The Study and Confirmation of Kinematic General Formula for Chain-Type Self-Reconfigurable Robot

Abstract

As an intelligent system, self-reconfigurable robot is able to change its configuration depending on different environments and tasks. This work illustrates an approach to the study on the process of deformation from chain-type configurations to circular configurations. In this work, the junction surface of module units and coordinate transform matrix are defined. And the general formulas are deduced based on the D-H method and mathematical induction as well. The motion trail, velocity and acceleration of the end docking face during the deformation are simulated by RecurDyn and MATLAB. The simulation results prove the correctness and validity of the general formula. The approach estimates the kinetic trajectory and reconfigurable space.