Title :
Self-reconfiguration robot of isomorphic module modeling and topology configurations of 3 modules robot enumerating
Author :
Ding, Wanjing ; Liu, Yi
Author_Institution :
Dept. of Mechanic & Electron. Eng., HuangShi Inst. of Technol. HuangShi, Huangshi, China
Abstract :
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 mathematic 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.
Keywords :
graph theory; matrix algebra; robots; graph theorem; incidence matrix; isomorphic module modeling; robot enumerating; self-reconfiguration robot; topology configurations; Circuit topology; Employee welfare; Graph theory; Instruments; Joining processes; Magnetic devices; Mechanical variables measurement; Orbital robotics; Robotic assembly; Service robots; enumeration; non-isomorphic configuration; self-reconfigurable robot;
Conference_Titel :
Electronic Measurement & Instruments, 2009. ICEMI '09. 9th International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-3863-1
Electronic_ISBN :
978-1-4244-3864-8
DOI :
10.1109/ICEMI.2009.5274645
