Design and Motion Description of a Hybrid Self-Reconfigurable Robot

Abstract

Abstract: A new hybrid self-reconfigurable modular robot which is composed of several triangular columnar master-slave modular was designed. The basic module consists of a master module and a slave module. There are three main drive motors and corresponding gears in each master module, and two drive motor in each slave module. Based on the structure of the connection ports, the analysis of the connection ports’ motion was given. The description of the basic spatial configuration of the self-reconfigurable modular robot was given based on the geometric characteristics of the basic module. Then the simulation of the self-reconfigurable robot changed from line to hexagon was given. The results show that the construct of the modular robot is compact and effective.

Key words: docking, self-reconfigurable robot, hybrid, module

CLC Number:

TP 242

YU Jiang-1, FEI Yan-Qiong-1, YANG Wei-1, LOU Xiao-Chun-2. Design and Motion Description of a Hybrid Self-Reconfigurable Robot[J]. Journal of Shanghai Jiaotong University, 2013, 47(04): 640-643.

[1]	Peng Cheng, Chen Li, Fu Shenglai. Nonlinear Disturbance Observer of Clutch Slipping Torque for Multi-Mode Hybrid Electric Vehicles [J]. J Shanghai Jiaotong Univ Sci, 2026, 31(2): 420-427.
[2]	Niu Guochen, Lü Zhihao. Vision-Based Detection for Aerial Intruders in Airport Flight Areas [J]. J Shanghai Jiaotong Univ Sci, 2026, 31(1): 176-186.
[3]	Peng Chengyu, Chen Baifan, Li Siyu, Jin Yuxuan, Wan Jiadong, Fu Yuesi. Hybrid Topological Map Fusion Based on Memory Sphere [J]. J Shanghai Jiaotong Univ Sci, 2026, 31(1): 130-142.
[4]	Xiao Lei, Zhao Hailong, Wu Xun, Wang Jun, Zhou Qihong. Hybrid Learning Model for Cross-Device Fault Detection of Industrial Robot Joints [J]. J Shanghai Jiaotong Univ Sci, 2026, 31(1): 82-98.
[5]	Li Guolin, Chen Tong, He Shaoying, Yin Debin. Input Mapping-Based Model Predictive Control with Event-Triggered Adaptive Strategy for Rigid-Soft Hybrid Manipulator [J]. J Shanghai Jiaotong Univ Sci, 2026, 31(1): 36-47.
[6]	YAN Yunqiang, HUANG Dazhong, ZHANG Yao, et al. Analysis and Research on Flare Boom Positioning Error Based on Precision Management Technology [J]. Ocean Engineering Equipment and Technology, 2026, 13(1): 107-115.
[7]	CHEN Pengfei, WANG Zhuang, CHEN Li. Energy Management Strategy of Diesel-Electric Hybrid Power System Based on Rule Optimization [J]. Ocean Engineering Equipment and Technology, 2026, 13(1): 24-33.
[8]	FU Shenglai, CHEN Li, CHEN Ziqiang. Mode Transition Control of Parallel Gas-Electric Hybrid Power System with Uncertain Delay [J]. Journal of Shanghai Jiao Tong University, 2025, 59(9): 1225-1236.
[9]	HUO Fali, YANG Jichuan, ZHU Chenyang, WEI Changdong, ZHAO Yinzhi. Hydrodynamic Characteristics of Hybrid Mooring System with Dual-Platform Joint Operation [J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1242-1254.
[10]	BANKOLE Adesola Temitope, IGBONOBA Ezekiel Endurance Chukwuemeke. Simulation-Based Novel Hybrid Proportional Derivative/H-Infinity Controller Design for Improved Trajectory Tracking of a Two-Link Robot Arm [J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1179-1187.
[11]	ZHANG Guo, CHEN Tao, WANG Jianping. CSC-YOLO: An Image Recognition Model for Surface Defect Detection of Copper Strip and Plates [J]. J Shanghai Jiaotong Univ Sci, 2025, 30(5): 1037-1049.
[12]	PAN Meiqi, HE Xing. A Fault Diagnosis Method for Wind Turbines Based on Zero-Shot Learning [J]. Journal of Shanghai Jiao Tong University, 2025, 59(5): 561-568.
[13]	Shao Dangguo, Yang Yuanbiao, Ma Lei, Yi Sanli. CT-MFENet: Context Transformer and Multi-Scale Feature Extraction Network via Global-Local Features Fusion for Retinal Vessels Segmentation [J]. J Shanghai Jiaotong Univ Sci, 2025, 30(4): 668-682.
[14]	ZHANG Rongfu, WANG Jinqiang, LIU Minxia. Optimal Design Method of Complex System Based on Resource Optimization [J]. Air & Space Defense, 2025, 8(3): 86-94.
[15]	ZHAO Yongxi, GAO Pengchao, FAN Hong. Power Coordination Strategy for Hybrid Energy Storage in AC/DC Microgrids Based on Virtual Impedance-Fuzzy Algorithm [J]. Journal of Shanghai Jiao Tong University, 2025, 59(3): 388-399.

Design and Motion Description of a Hybrid Self-Reconfigurable Robot

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments