The Kinematics Analysis of a Novel Self-Reconfigurable Modular Robot Based on Screw Theory

被引：0
|
作者：
Li, Yuehua [1 ]
Zhu, Shiqiang [1 ]
Wang, Zewen [1 ]
Zhang, Luhan [1 ]
Ma, Xutai [1 ]
Cui, Zhengzhe [1 ]
机构：
[1] Zhejiang Univ, Hangzhou 310003, Zhejiang, Peoples R China
来源：
2016 3RD INTERNATIONAL CONFERENCE ON MECHANICAL, INDUSTRIAL, AND MANUFACTURING ENGINEERING (MIME 2016) | 2016年
关键词：
Larva-Bot; Modular robot; Reconfigurable robot; Screw theory; POE; Paden-Kahan Sub-problem;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper introduces our newly designed self-reconfigurable modular robot named Larva-Bot, which has two DOFs with intersecting rotation axis normal to each other. Each module has autonomous mobility, and can assemble with other modules to form various configurations. In this study, a typical 6-DOF structure, composed of Larva-Bots, is proposed to analyze the kinematic characteristics of the modular robot. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H) parameter method, while its inverse kinematics has inefficient calculation and complicated solutions. To solve the problems, the screw theory method is applied in this paper. The forward kinematics model is constructed by using the product of exponentials (POEs) formula, while the inverse kinematics analysis is based on Paden-Kahan Sub-problems. Finally, the reliability of the method has been proved by computations and simulation.
引用
收藏
页码：23 / 30
页数：8
相关论文
共 50 条
  • [41] Kinematic Analysis of a Novel Reconfigurable Parallel Robot
    Sanchez-Alonso, Roger E.
    Gonzalez-Barbosa, Jose-Joel
    Castillo-Castaneda, Eduardo
    Garcia-Murillo, Mario A.
    REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL, 2016, 13 (02): : 247 - 257
  • [42] Kinematics and dynamics Hessian matrices of manipulators based on screw theory
    Tieshi Zhao
    Mingchao Geng
    Yuhang Chen
    Erwei Li
    Jiantao Yang
    Chinese Journal of Mechanical Engineering, 2015, 28 : 226 - 235
  • [43] Kinematics and Dynamics Hessian Matrices of Manipulators Based on Screw Theory
    ZHAO Tieshi
    GENG Mingchao
    CHEN Yuhang
    LI Erwei
    YANG Jiantao
    Chinese Journal of Mechanical Engineering, 2015, 28 (02) : 226 - 235
  • [44] Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
    J. Gallardo-Alvarado
    C. R. Aguilar-Nájera
    L. Casique-Rosas
    L. Pérez-González
    J. M. Rico-Martínez
    Multibody System Dynamics, 2008, 20 : 307 - 325
  • [45] Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
    Gallardo-Alvarado, J.
    Aguilar-Najera, C. R.
    Casique-Rosas, L.
    Perez-Gonzalez, L.
    Rico-Martinez, J. M.
    MULTIBODY SYSTEM DYNAMICS, 2008, 20 (04) : 307 - 325
  • [46] Instantaneous Kinematics Analysis via Screw-theory of a Novel 3-CRC Parallel Mechanism
    de la Torre, Hussein
    Rodriguez-Leal, Ernesto
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2016, 13
  • [47] Dynamic Modeling of Quadrupedal Robot Based on the Screw Theory
    Liu, Mingmin
    Qu, Daokui
    Xu, Fang
    Zou, Fengshan
    Song, Jilai
    Tang, Chong
    Ma, Zhuang
    Jiang, Lisong
    2019 CHINESE AUTOMATION CONGRESS (CAC2019), 2019, : 5540 - 5544
  • [48] A New Geometric Subproblem to Extend Solvability of Inverse Kinematics Based on Screw Theory for 6R Robot Manipulators
    Leoro, Josuet
    Hsiao, Tesheng
    Betancourt, Carlos
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2021, 19 (01) : 562 - 573
  • [49] Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras
    Sun, Peng
    Li, Yanbiao
    Chen, Ke
    Zhu, Wentao
    Zhong, Qi
    Chen, Bo
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2021, 34 (01)
  • [50] A New Geometric Subproblem to Extend Solvability of Inverse Kinematics Based on Screw Theory for 6R Robot Manipulators
    Josuet Leoro
    Tesheng Hsiao
    Carlos Betancourt
    International Journal of Control, Automation and Systems, 2021, 19 : 562 - 573
12345