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A Method for Modular Robots Generating Dynamics Automatically

Published online by Cambridge University Press:  12 January 2001

Yanqiong Fei ,
Zigang Zhao  and
Libo Song
Yanqiong Fei
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University No 1954, Hua Shan Road, Shanghai 200030 (China)
Zigang Zhao
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University No 1954, Hua Shan Road, Shanghai 200030 (China)
Libo Song
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University No 1954, Hua Shan Road, Shanghai 200030 (China)
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Abstract

In this paper a method for the automatic generation of dynamics for modular robots is presented. A modular reconfigurable robot consists of link modules and joint modules of various specifications. We analyze the abstract architecture of modular robots. A total of nine types of connecting forms and three types of joint forms are identified with reference to their own systems. The geometric relationships are derived by the group theory. According to the modular idea, the formulations of the velocity, acceleration and other essential equations of the link module and the joint module are formed compensatively and recursively. Then the dynamic model is generated automatically by a compensative and recursive method.

Keywords

Modular robotDynamicsAutomatic generation
Type
Research Article
Information
Robotica , Volume 19 , Issue 1 , January 2001 , pp. 59 - 66
Copyright
© 2001 Cambridge University Press

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