In the paper, the configuration of a novel self-reconfigurable module is presented. It is composed of one cubic part and six rotary sides. There are two holes and two extension pegs in each rotary side. The states of the docking process and constraint between two neighboring modules are analyzed with the geometric method and the contact forces of the docking process are described. At last, two neighboring modules are simulated to finish the docking process.
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Fei, Y., Wan, J., Xia, P. et al. Docking analysis of two neighboring modules in a self-reconfigurable modular machine. Int J Adv Manuf Technol 32, 985–989 (2007). https://doi.org/10.1007/s00170-006-0424-7
- Geometric constraint