[1]PAN Xin,an,WANG Hongguang,et al.Development of a modular reconfigurable robot system[J].CAAI Transactions on Intelligent Systems,2013,8(4):292-298.[doi:10.3969/j.issn.1673-4785.201212053]
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Development of a modular reconfigurable robot system
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
8
Number of periods:
2013 4
Page number:
292-298
Column:
学术论文—智能系统
Public date:
2013-08-25
- Title:
- Development of a modular reconfigurable robot system
- Keywords:
- modular reconfigurable robot; module division and reconfiguration; joint module; application software; design example
- CLC:
- TP242
- DOI:
- 10.3969/j.issn.1673-4785.201212053
- Abstract:
- To obtain both high reconfiguration ability and manipulating performance for applications in education and research areas, a modular reconfigurable robot experimental system (MRRES) was developed. First, a module division and reconfiguration method was proposed, next a module library was established, and then a series of joint modules with integrated transmission, control, and sensing systems were developed. Based on Open GL and VC++, the software MRR-SIM incorporating the functions of modeling, simulation, and motion control was developed. A task-and-module-library based illustrative example was presented, and finally a robot was tested. The results of the experiments show that the proposed division method and the design of the MRRES are appropriate, the high reconfiguration ability and high manipulating performance were achieved, and the system was applicable to the applications in education and research settings.
- References:
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Last Update:
2013-09-23