Configuration And Kinematics Analysis Of Reconfigurable Environmental Robots

With increasing application range of robots, the tasks and the environment of robots are unpredictable, there is the reason the Reconfigurable Modular Robots being brought forward. The Reconfigurable Modular Robot consists of a series of modular joints and links of various sizes. It can be assembled by choosing the modules in order to accomplish the special task. In the thesis, the principles of modular design and configuration design as well as kinematics design of reconfigurable environmental robots well be studied with attempt.To meet the command of rapid reconfiguration of robots, the thesis divided the modules of reconfigurable environmental robots based on function.Configuration design is an important content of reconfigurable modular robot design. Through analyzing the characters of reconfigurable robot, a mathematical model of configuration was put forward. Finally, a genetic algorithm is selected as the configuration design optimization method.To establish the unification model of the kinematical analyze of reconfigurable modular robots is one of the main contents of reconfigurable modular robots. The kinematical model contains forward kinematical model and inverse kinematical model. Forward kinematical model is established by twist product-of-exponential formulas. The method merely requires multiplying transformation matrix of every given module according to the order of the assembled modular robot, namely from foundation to end. Then forward kinematics equation is gotten. The method greatly simplifies the bothered case that makes sure coordinate frame during calculating robot kinematics. The inverse kinematics model of reconfigurable modular robots is based on the forward kinematics equation formulas and differential kinematics equations. Lastly an iterative formula of inverse kinematics is obtained by using Newton-Raphson iteration method.