Self-reconfiguration Robot of Isomorphic Module Modeling and Topology Configurations of 3 Modules Robot Enumerating

摘要：

Performance of a self-reconfigurable robot of isomorphic is closely related to its topology configuration. Therefore, in order to research configuration of robot whose module has 2 degree of freedoms (DOFs) and 6 androgynous connect faces, a deflection state assemble incidence matrix based on graph theorem was defined to establish mat hematic model of robot configuration. Then according to the module symmetry in 3D space and combination principle, all non-isomorphic configurations of three modules self-reconfigurable robot was solved.

关键词： self-reconfigurable robot non-isomorphic configuration enumeration

作者: Wanjing Ding Yi Liu

作者单位: Dept.of Mechanic and Electronic Engineering,HuangShi Institute of Technology HuangShi,435000,Hubei P Dept.of Mechanic and Electronic Engineering,HuangShi Institute of Technology HuangShi,435000,Hubei P

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 3778-3783

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）