Kinematics and Multi-mode Application of a Novel Self-assembling Robot with Parallel Structure

摘要

A self-assembling robot system, which combines four deployable manipulators with an operation object, is proposed in this paper. The manipulators can be stacked in a designated area and move independently from each other before being connected to an object. After the connection with the object, the connect units which located at the end of each manipulator ensure that the manipulators can remain connection with the object for operation. The connection can be realized through a vacuum cup or an electromagnet. The resulting robot system, formed by the four deployable manipulators and the operation object, is similar to a kinematic structure of parallel mechanism. The Robot is able to achieve manipulation of objects with 2R1T by actuating exactly three joints in each mode. Each mode is formed by different three manipulators and the object. Kinematics performance and application were demonstrated in this paper. Such a manipulator-object combination possesses some advantages over existing grippers and manipulation robot. It has the repetitive and reconstruction ability with different work mode than existing grippers and manipulation robot with fixed structure parameters.