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Prototype design of a rubik snake robot
Zhang X(张鑫); Liu JG(刘金国)
Conference Name3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)
Conference DateJuly 20-22, 2015
Conference PlaceBeijing, China
Source PublicationMechanisms and Machine Science
PublisherKluwer Academic Publishers
Publication PlaceDordrecht, Netherlands
Indexed ByEI ; CPCI(ISTP)
EI Accession number20154801631615
WOS IDWOS:000450989800050
Contribution Rank1
KeywordReconfigurable Modular Mechanism Geometric Characteristics Structural Statics And Dynamics Analysis
AbstractThis paper presents a reconfigurable modular mechanism—Rubik Snake robot, which can change its configurations by changing the position relationship of modules. The geometric characteristics and design process of the module are described in detail, and the module’s features ensure Rubik Snake robot to own a strong ability of transformation and manipulation. Through the structural statics and dynamics analysis, the mechanical properties of the system are verified to meet the requirements of missions. Furthermore, a platform was fabricated, and a configurations experiment identified the rationality of the platform. Two potential space applications of Rubik Snake robot: reconfigurable structures and reconfigurable mechanisms, are introduced to fulfill the future space station missions. We hope our study will give insights into the reconfigurable modular robot applications on future space application.
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Document Type会议论文
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Zhang X,Liu JG. Prototype design of a rubik snake robot[C]. Dordrecht, Netherlands:Kluwer Academic Publishers,2015:581-591.
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