Research on the topology description and modeling method for reconfigurable modular robots

This paper focuses on the topology description and modeling method for reconfigurable modular serial robots. Based on the module division, one kind of 4 times n topology characteristic matrix is established to describe robots configuration. A modeling method for kinematic analysis on the basis of coordinate systems of modules is put forward. Since the joint modules have several interfaces, many configurations can be constructed. The topology characteristic matrix contains such information as the type of module, the orientation relationship of the joint modules axes, the form and connection of interfaces and the type of link. From the topology characteristic matrix, we can get the connection form and relationship between each module in the robot. A set of rule for describing a joint module-based coordinate system and transform relationship between the adjacent modules are offered and a kinematics model of the modular serial robot is derived. Hence, the modularization and reconfiguration of analysis software can be implemented. The example analyses show that the topology description and modeling method is correct and valid.