Configuration analysis of a reconfigurable Rubik's snake robot

doi:10.1177/0954406218805112

IMR OpenIR

	Configuration analysis of a reconfigurable Rubik's snake robot
	Liu, Jinguo 1,2; Zhang, Xin 1,2,3; Zhang, Ketao 4; Dai, Jian S.4; Li, Shujun 5; Sun, Qi 5
通讯作者	Liu, Jinguo(liujinguo@sia.cn) ; Zhang, Xin(zhangxin@sia.cn)
	2019-05-01
发表期刊	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
ISSN	0954-4062
卷号	233 期号:9 页码:3137-3154
摘要	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.
关键词	Reconfigurable modular robot configuration analysis valid configurations configuration representation motion sequence matrix
资助者	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
收录类别	SCI
语种	英语
资助项目	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研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000464526500014
出版者	SAGE PUBLICATIONS LTD
引用统计	被引频次：14[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.imr.ac.cn/handle/321006/132812
专题	中国科学院金属研究所
通讯作者	Liu, Jinguo; Zhang, Xin
作者单位	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
推荐引用方式 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.