Design and locomotion analysis of an unit for reconfigurable robots

Mechanism design of a modular universal unit (MUU) is presented in this paper. This unit is a basic cell of reconfigurable robot. We can develop the 3D snake-like robot, car-like vehicle and manipulator with MUUs. The MUU behaves pitching, yawing and rolling D.O.F, among of which pitching and yawing are actuated by means of differential driving system for getting large propulsion. A series of passive rollers around the cylindrical aluminum shell of MUU form an actuating wheel for the omnidirectional mobile robot. The communication and replacement is feasible due to high integration of MUU. Two or more MUUs can be connected to move or to be a manipulator, which exhibits high mobility and agility of MUU. Some typical configurations of robot composed of these MUUs are analyzed for locomotion control. The kinematics and controllability of proposed robots are analyzed for self-reconfigurable commission. Some locomotion experiments are given to show characteristic of MUU.