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International Symposiu on Multibody Systems and Mechatronics

MuSMe 2017: Multibody Mechatronic Systems pp 128–137Cite as

Assembly Sequence Planning for Shape Heterogeneous Modular Robot Systems

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 54))

Abstract

Modular robots are robots capable of changing their morphology to perform various tasks and to adapt to different environments. In order to explore these versatile robots potentialities, they must be assembled and operated in as many different configurations as possible. This paper presents an original assembly sequence planning to target structures formed by shape heterogeneous modular robots systems. Each robot system is composed by any number of rectangular modules joined edge to edge, forming arbitrary shapes. The new planner is divided into three original algorithms and constitute a complete and novel method to build target structures without internal holes.

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Authors and Affiliations

  1. UFSC - Universidade Federal de Santa Catarina, Florianópolis, Brazil

    Anelize Zomkowski Salvi, Roberto Simoni & Henrique Simas

Authors
  1. Anelize Zomkowski Salvi
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  2. Roberto Simoni
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  3. Henrique Simas
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Corresponding author

Correspondence to Anelize Zomkowski Salvi .

Editor information

Editors and Affiliations

  1. School of Mechanical Engineering, Federal University of Uberlândia, Uberlândia, Minas Gerais, Brazil

    João Carlos Mendes Carvalho

  2. Mechanical Engineering, Federal University of Santa Catarina, Florianópolis, Santa Catarina, Brazil

    Daniel Martins

  3. Mobility Engineering Center, Federal University of Santa Catarina, Joinville, Santa Catarina, Brazil

    Roberto Simoni

  4. Mechanical Engineering, Federal University of Santa Catarina, Florianópolis, Santa Catarina, Brazil

    Henrique Simas

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Salvi, A.Z., Simoni, R., Simas, H. (2018). Assembly Sequence Planning for Shape Heterogeneous Modular Robot Systems. In: Carvalho, J., Martins, D., Simoni, R., Simas, H. (eds) Multibody Mechatronic Systems. MuSMe 2017. Mechanisms and Machine Science, vol 54. Springer, Cham. https://doi.org/10.1007/978-3-319-67567-1_12

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  • DOI: https://doi.org/10.1007/978-3-319-67567-1_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-67566-4

  • Online ISBN: 978-3-319-67567-1

  • eBook Packages: EngineeringEngineering (R0)

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