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Enumeration of Configurations and Their Kinematics for ModRED II Modular Robots

[+] Author Affiliations
Kazi M. Hossain, Carl A. Nelson

University of Nebraska-Lincoln, Lincoln, NE

Prithviraj Dasgupta

University of Nebraska at Omaha, Omaha, NE

Paper No. DETC2016-60307, pp. V05BT07A059; 6 pages
doi:10.1115/DETC2016-60307
From:
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5016-9
  • Copyright © 2016 by ASME

abstract

Modular robotics is a popular topic for robotic applications and design. The reason behind this popularity is the ability to use and re-use the same robot modules for accomplishing different tasks through reconfiguration. The robots are capable of self-reconfiguration based on the requirements of the task and environmental constraints. It is possible to have a large number of configuration combinations for the same set of modules. Therefore, it is important to identify unique configurations from among the full set of possible configurations and establish a kinematic strategy for each before reconfiguring the robots into a new shape. This becomes more difficult for robot units having more than one connection type and more degrees of freedom. For example, ModRED II modules have two types of connections and four degrees of freedom per module. In this paper, the set of configurations is enumerated, and determination of configuration isomorphism is accomplished for ModRED II modules using graph theory. Kinematic equations are then derived for unique configurations. The kinematic method is then demonstrated for certain example configurations using ModRED II modules.

Copyright © 2016 by ASME
Topics: Kinematics , Robots

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