Analysis on Kinematics and Dynamics of Modular Robot Systems

摘要

In the paper, seven connecting types of cuboid modules and two connecting types of cubic modules are classified. The concepts of basic group and basic cycle subgroup are proposed. The geometric relationships of each connecting type are derived with the group theory. The transformation matrix, velocity, acceleration and other characteristic parameters can be obtained iteratively and compensatively. For the automatic generation of the forward kinematics, an approach is adopted by a series of elemental matrixes multiplication with PME (product of matrix exponentials). Then, a compensative and recursive method is presented to generate the dynamic models automatically. The methods are general and can be applied to other modular robots. Examples of the kinematics and dynamics on a quadruped are given to demonstrate the applicability and effectiveness of the proposed methods.