Prototype Design of a Rubik Snake Robot

摘要

This paper presents a reconfigurable modular mechanism - Rubik Snake robot, which can change its configurations by changing the position relationship of modules. The geometric characteristics and design process of the module are described in detail, and the module's features ensure Rubik Snake robot to own a strong ability of transformation and manipulation. Through the structural statics and dynamics analysis, the mechanical properties of the system are verified to meet the requirements of missions. Furthermore, a platform was fabricated, and a configurations experiment identified the rationality of the platform. Two potential space applications of Rubik Snake robot: reconfigurable structures and reconfigurable mechanisms, are introduced to fulfill the future space station missions. We hope our study will give insights into the reconfigurable modular robot applications on future space application.