Self-reconfiguration robot of isomorphic module modeling and topology configurations of 3 modules robot enumerating

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.