文章基本信息

标题：A Novel Docking System for Modular Self-Reconfigurable Robots
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作者：Tan Zhang
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2017
卷号：6
期号：4
页码：25
DOI：10.3390/robotics6040025
语种：English
出版社：MDPI Publishing
摘要：Existing self-reconfigurable robots achieve connections and disconnections by a separate drive of the docking system. In this paper, we present a new docking system with which the connections and disconnections are driven by locomotion actuators, without the need for a separate drive, which reduces the weight and the complexity of the modules. This self-reconfigurable robot consists of two types of fundamental modules, i.e., active and passive modules. By the docking system, two types of connections are formed with the fundamental modules, and the docking and undocking actions are achieved through simple control with less sensory feedback. This paper describes the design of the robotic modules, the docking system, the docking process, and the docking force analysis. An experiment is performed to demonstrate the self-reconfigurable robot with the docking system.
关键词：docking system; modular robot; passive joint; underactuated self-reconfigurable robot docking system ; modular robot ; passive joint ; underactuated self-reconfigurable robot