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Abstract: A simple but effective configuration synthesis method for
reconfigurable robot based on the graph theory is presented. For this
purpose, all modules made up of a reconfigurable robot are abstracted
the building blocks firstly, thus the mapping between graph and the
reconfigurable robot can be established. According to graph theory and
the restriction of combination among all modules, all feasible assembly
configurations for the reconfigurable robot are enumerated
correspondingly. To verify the proposed method, the configuration
synthesis of a 4-DOF reconfigurable robot, composed by four modules i.e.
a gear-driven module, a rack-driven module, a strap-driven module, and a
planar linkage module is investigated, and all six feasible assembly
configurations corresponding to the robot is achieved. As a result, the
conceptual design of the reconfigurable robot is accomplished
effectively.
Key words: Robots Synthesis Reconfigurable robot Graph theory
Structural synthesis
CLC No: TP206.1
国家自然科学基金资助项目(50475002).
Received 20050301, received in revised form 20050513
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