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Configuration analysis of a reconfigurable Rubik's snake robot
Liu JG(刘金国)1,2; Zhang X(张鑫)1,2,3; Zhang, Ketao4; Dai JS(戴建生)4; Li SJ(李树军)5; Sun, Qi5
Department空间自动化技术研究室
Source PublicationProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering
ISSN0954-4062
2019
Volume233Issue:9Pages:3137-3154
Indexed BySCI ; EI
EI Accession number20190706513885
WOS IDWOS:000464526500014
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China ; Key Research Program of the Chinese Academy of Sciences ; State Key Laboratory of Robotics of China
KeywordReconfigurable modular robot configuration analysis valid configurations configuration representation motion sequence matrix
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.
Language英语
WOS SubjectEngineering, Mechanical
WOS KeywordDESIGN ; LOCOMOTION
WOS Research AreaEngineering
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]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23815
Collection空间自动化技术研究室
Corresponding AuthorLiu JG(刘金国); Zhang X(张鑫)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese, Academy of Sciences, Shenyang, China
3.University of Chinese Academy of Sciences, Beijing, China
4.King’s College London, University of London, London, UK
5.lege of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
Recommended Citation
GB/T 7714
Liu JG,Zhang X,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,2019,233(9):3137-3154.
APA Liu JG,Zhang X,Zhang, Ketao,Dai JS,Li SJ,&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,233(9),3137-3154.
MLA Liu JG,et al."Configuration analysis of a reconfigurable Rubik's snake robot".Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering 233.9(2019):3137-3154.
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