Runtime reconfiguration of a modular mobile robot with serial and parallel mechanisms

被引：0
|
作者：
Zhang, H. X. [1 ]
Chen, S. Y. [2 ,3 ]
Wang, W. [4 ]
Zhang, J. W. [1 ,5 ,6 ]
Zong, G. H. [4 ]
机构：
[1] Univ Hamburg, Dept Comp Sci, Inst Tech Aspects Multimodal Syst, Vogt Koelln Str 30, D-22527 Hamburg, Germany
[2] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou, Zhejiang, Peoples R China
[3] Alexander von Humboldt Fdn, Bonn, Germany
[4] Beijing Univ Aeronaut & Astronaut, Sch Mech Engn & Automat, Inst Robot, Beijing 100083, Peoples R China
[5] Univ Hamburg, Inst Tech Aspects Multimodal Syst, Dept Comp Sci, Hamburg, Germany
[6] Shenzhen Inst Adv Technol, Cognitive Technol Lab, Shenzhen, Peoples R China
来源：
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a novel field robot JL-I based on a reconfigurable concept for urban search and rescue applications. The robot consists of three identical modules; each module is an entire robotic system that can perform distributed activities. It features three-degrees-of-freedom (DOF) active joints actuated by serial and parallel mechanisms for changing shape and flexible docking mechanism. The docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. DOF analysis, working space analysis and the kinematics of the 3D active joint between connected modules are studied thoroughly. In the end a series of successful tests confirm the principles and the robot's capabilities.
引用
收藏
页码：3005 / +
页数：2
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