| 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 Author | Liu, Jinguo(liujinguo@sia.cn) ; Zhang, Xin(zhangxin@sia.cn) |
| 2019-05-01 | |
| Source Publication | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
 |
| ISSN | 0954-4062 |
| Volume | 233Issue:9Pages:3137-3154 |
| Abstract | Versatility 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. |
| Keyword | Reconfigurable modular robot configuration analysis valid configurations configuration representation motion sequence matrix |
| Funding Organization | National Natural Science Foundation of China ; Key Research Program of the Chinese Academy of Sciences ; State Key Laboratory of Robotics of China |
| DOI | 10.1177/0954406218805112 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National 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 Area | Engineering |
| WOS Subject | Engineering, Mechanical |
| WOS ID | WOS:000464526500014 |
| Publisher | SAGE PUBLICATIONS LTD |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.imr.ac.cn/handle/321006/132812 |
| Collection | 中国科学院金属研究所 |
| Corresponding Author | Liu, Jinguo; Zhang, Xin |
| Affiliation | 1.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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