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Abstract: The general reconfigurable cuboids modular unit structure
model is presented, and its assembled surfaces are defined. According to
its geometry shape and the symmetry of its assembled surfaces, its
assembly characters are analyzed. Considering the structure and running
characters of turning joints of robot, three types of reconfgurable unit
models for the swinging, rotating and assistant unit are builted, that
make up of the basic assembly elements of reconfigurable robot system.
With the combinatorics theory, their assembly characters are studied
separately according to the unit geometry structures. As a sample, a
real five-legged walking robot is assembled with these basic units,
which shows that the reconfigurable units are feasible and applied.
Key words: Robot Reconfigurable Unit Assembly
CLC No: TP242.2
国家“863”计划
(512-05-12-98)和清华大学机械工程学院基金(091202002)资助项目. Received 20011106, received
in revised form 20020620
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