Reachable Workspace Analysis of the Lattice Distortion Self-reconfigurable Robot

Abstract

Abstract: A new lattice distortion self-reconfigurable robot system, called LDSBot, was presented，whose four modules could configure a type of planar parallel mechanism lattice. Firstly, motion analysis was performed through simplifying the lattice to a “P-R-P” serial mechanism. Secondly, the forward kinematics model was built based on product of exponentials of screw theory. Finally, the reachable workspaces of two dimensional lattice and three dimensional lattice were solved, using Monte Carlo methods, according to constraints of the modular structure and motion constraints of the lattice distortion. The results show that this lattice robot system has good spatial accessibility, which can provide application basis for large-scale self-reconfigurable robot systems.

Key words: self-reconfigurable robot, lattice distortion, screw theory, reachable workspace

CLC Number:

TP 242

YIN Bo, LIANG Zhen-Ning, HU Wen, XU Wei, WANG Shi-Gang. Reachable Workspace Analysis of the Lattice Distortion Self-reconfigurable Robot[J]. Journal of Shanghai Jiaotong University, 2012, 46(11): 1764-1769.

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