Design and implementation of a modular self-reconfigurable robot |
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| Authors: | Zhao Jie Tang Shufeng Zhu Yanhe |
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| Institution: | Zhao Jie Tang Shufeng Zhu Yanhe (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,P.R.China) |
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| Abstract: | A novel modular self-reconfigurable robot called UBot is presented.This robot consists of several standard modules.The module is cubic structure based on double rotational DOF,and has four connect- ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick- ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con- nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures and electrical ... |
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| Keywords: | self-reconfigurable robot modular twin-rotation connecting mechanism |
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