Abstract
Based on the kinematic topology of bionic robot and robot motion planning modeling, this paper designs the mechanical structure of highly integrated robotic joint module, the fast self-reconfigurable module, the drive control software, and the hardware for the system. Through the experimental verification and simulation data analysis, the robot joint module and the fast self-reconfiguration module designed in this paper meet the performance requirement of the reconfigurable intelligent robot. Finally, the prototype verification of the reconfigurable intelligent robot is realized in this paper.
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Acknowledgments
This work was partially supported by the National Natural Science Foundation of China (No. U1813216 and No. 61803221), the Science and Technology Research Foundation of Shenzhen (JCYJ20160301100921349 and JCYJ20170817152701660). The author is thankful to several brilliant engineers, including: Xingzhang Wu, Guanyu Wang (HIT), Ruiping Zhao, Xun Ran, and Shuanglong Li, Jing Xiao for providing support and necessary facilities.
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Jiang, J., Liu, H., Yuan, B., Liang, L., Liang, B. (2019). Design and Integration of a Reconfiguration Robot. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_31
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DOI: https://doi.org/10.1007/978-3-030-27535-8_31
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