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
相关论文
共 50 条
  • [41] Serial and Parallel Interleaved Modular Multipliers on FPGA Platform
    Javeed, Khalid
    Wang, Xiaojun
    Scott, Mike
    2015 25TH INTERNATIONAL CONFERENCE ON FIELD PROGRAMMABLE LOGIC AND APPLICATIONS, 2015,
  • [42] An Improved Serial Method for Mobile Robot SLAM
    Xi, Weina
    Ou, Yongsheng
    Feng, Wei
    Yu, Gang
    2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), 2017, : 501 - 506
  • [43] Dynamics Analysis of a Modular Reconfigurable Parallel Robot
    Zhang, Qisheng
    Li, Ruiqin
    Liang, Jingjing
    MECHANISM AND MACHINE SCIENCE, 2017, 408 : 1069 - 1082
  • [44] A MODULAR 2-DOF SERIAL ROBOT MANIPULATOR FOR EDUCATION IN ROBOT CONTROL
    Mascaro, Stephen
    PROCEEDINGS OF THE ASME 9TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2016, VOL 2, 2017,
  • [45] Unified kinetostatics for serial, parallel and mobile robots
    Bruyninckx, H
    De Schutter, J
    ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND CONTROL, 1998, : 343 - 352
  • [46] SMARbot: A modular miniature mobile robot platform
    Meng, Yan
    Johnson, Kerry
    Simms, Brian
    Conforth, Matthew
    SENSORS, AND COMMAND, CONTROL, COMMUNICATIONS, AND INTELLIGENCE (C3I) TECHNOLOGIES FOR HOMELAND SECURITY AND HOMELAND DEFENSE VII, 2008, 6943
  • [47] Estimation and control for a modular wheeled mobile robot
    Mutambara, AGO
    Durrant-Whyte, HF
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2000, 8 (01) : 35 - 46
  • [48] MODULAR CONTROL SYSTEM ARCHITECTURE FOR A MOBILE ROBOT
    Hrbacek, J.
    Hrbacek, R.
    Vechet, S.
    ENGINEERING MECHANICS 2011, 2011, : 211 - 214
  • [49] Representing and enumerating the non-isomorphic configurations of the reconfiguration modular robot
    Liu, Jinguo
    Wang, Yuechao
    Li, Bin
    Ma, Shugen
    Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2006, 42 (01): : 98 - 105
  • [50] A modular constructive approach to mobile robot navigation
    Silva, C
    Ribeiro, B
    KNOWLEDGE-BASED INTELLIGENT INFORMATION ENGINEERING SYSTEMS & ALLIED TECHNOLOGIES, PTS 1 AND 2, 2001, 69 : 313 - 317
12345