TY - GEN
T1 - Self-reconfiguration robot modeling and topology configurations enumerating
AU - Yi, Liu
AU - Mingyao, Liu
AU - Cuan, Sun
AU - Tao, Li
AU - Wanjing, Ding
PY - 2009
Y1 - 2009
N2 - Topology configuration of a self-reconfigurable robot decided working performance of the robot. Therefore, taking reconfigurable robot which had 2 degree of freedoms (DOFs) and androgynous connect face for example, A new assemble incidence matrix based on graph theorem was defined to establish robot configuration model. Then according to the module symmetry in 3D space and combination principle, all non-isomorphic configurations of 3-module self-reconfigurable robot were solved. At last all configurations of 3-module robot were found and the validity of algorithm was testified by using Matlab software simulating.
AB - Topology configuration of a self-reconfigurable robot decided working performance of the robot. Therefore, taking reconfigurable robot which had 2 degree of freedoms (DOFs) and androgynous connect face for example, A new assemble incidence matrix based on graph theorem was defined to establish robot configuration model. Then according to the module symmetry in 3D space and combination principle, all non-isomorphic configurations of 3-module self-reconfigurable robot were solved. At last all configurations of 3-module robot were found and the validity of algorithm was testified by using Matlab software simulating.
KW - Enumeration
KW - Non-isomorphic configuration
KW - Self-reconfigurable robot
UR - https://www.scopus.com/pages/publications/70350234456
U2 - 10.1109/ICIMA.2009.5156565
DO - 10.1109/ICIMA.2009.5156565
M3 - 会议稿件
AN - SCOPUS:70350234456
SN - 9781424438181
T3 - 2009 International Conference on Industrial Mechatronics and Automation, ICIMA 2009
SP - 81
EP - 84
BT - 2009 International Conference on Industrial Mechatronics and Automation, ICIMA 2009
T2 - 2009 International Conference on Industrial Mechatronics and Automation, ICIMA 2009
Y2 - 15 May 2009 through 16 May 2009
ER -