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Configuration analysis of a reconfigurable Rubik's snake robot
Liu, Jinguo1,2; Zhang, Xin1,2,3; Zhang, Ketao4; Dai, Jian S.4; Li, Shujun5; Sun, Qi5
Corresponding AuthorLiu, Jinguo(liujinguo@sia.cn) ; Zhang, Xin(zhangxin@sia.cn)
2019-05-01
Source PublicationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
ISSN0954-4062
Volume233Issue:9Pages:3137-3154
AbstractVersatility and adaptability are the most prominent advantages of reconfigurable modular robotic systems. Unlike integrated robotic systems, reconfigurable modular robots can be rearranged to adapt to unpredictable environments. This paper presents a novel reconfigurable modular robot inspired by the Rubik's snake toy. For this reconfigurable Rubik's snake robot, the special feature is that it can work as not only a mechanism but also as a reconfigurable structure. In this paper, the configuration analysis is the core content. The concept of valid configurations is proposed to describe valid, controllable, and non-interference configurations. The configuration analysis theories are introduced in accordance with the configuration representation, the isomorphism analysis, the interference analysis, and the motion sequence analysis. Here, the configuration representation is proposed to define the position and orientation of two modules by using the adjacency matrix and the binary digital code, respectively. The equivalent digital code and the configuration ring are used to distinguish the same or symmetric configurations for the open and closed isomorphism configurations, respectively. Meanwhile, a case study is conducted to verify the effectiveness of the isomorphism analysis. Furthermore, the working space interference method is introduced to detect the interference issue in the process of forming target configurations. To accomplish a target configuration properly, the motion sequence matrix is defined to describe the motion sequence for achieving a target configuration. Finally, an experiment on the configuration transformation is demonstrated to verify the rationality and correctness of the theories of configuration analysis.
KeywordReconfigurable modular robot configuration analysis valid configurations configuration representation motion sequence matrix
Funding OrganizationNational Natural Science Foundation of China ; Key Research Program of the Chinese Academy of Sciences ; State Key Laboratory of Robotics of China
DOI10.1177/0954406218805112
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[51505470] ; National Natural Science Foundation of China[51775541] ; Key Research Program of the Chinese Academy of Sciences[Y4A3210301] ; State Key Laboratory of Robotics of China[2015-O04]
WOS Research AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:000464526500014
PublisherSAGE PUBLICATIONS LTD
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/132810
Collection中国科学院金属研究所
Corresponding AuthorLiu, Jinguo; Zhang, Xin
Affiliation1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Liaoning, Peoples R China
2.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang, Liaoning, Peoples R China
3.Univ Chinese Acad Sci, Beijing, Peoples R China
4.Univ London, Kings Coll London, London, England
5.Northeastern Univ, Lege Mech Engn & Automat, Shenyang, Liaoning, Peoples R China
Recommended Citation
GB/T 7714
Liu, Jinguo,Zhang, Xin,Zhang, Ketao,et al. Configuration analysis of a reconfigurable Rubik's snake robot[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2019,233(9):3137-3154.
APA Liu, Jinguo,Zhang, Xin,Zhang, Ketao,Dai, Jian S.,Li, Shujun,&Sun, Qi.(2019).Configuration analysis of a reconfigurable Rubik's snake robot.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,233(9),3137-3154.
MLA Liu, Jinguo,et al."Configuration analysis of a reconfigurable Rubik's snake robot".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 233.9(2019):3137-3154.
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