Reconfigurable Modular Universal Unit (MUU) for Mobile Robots

摘要

A modular universal unit (MUU) implements Pitching, Yawing and Rolling DOF is presented in this paper. By connecting these MUUs in different forms, we can develop the 3D snake-like robot and other mobile robots. A series of passive rollers around the cylindrical aluminum shell of MUU form an actuating wheel for the omnidirectional mobile robot. The communication and replacement is feasible due to high integration of MUU. Two or more MUUs can be connected to make up mobile robots to move, which exhibits high mobility and agility of MUU. Some typical configurations of robot composed of these MUUs are presented. The kinematics and controllability of proposed robots are analyzed for self-reconfigurable commission. Some locomotion experiments are given to show characteristic of MUU.