Kinematics Analysis and Reconfiguration Planning of the Reconfigurable Robot

Though the unknown environment can be dangerous, people are always interested in it. However, the problem is that current robots cannot adapt to work in an unknown environment. This paper designs a reconfigurable robot that can perform tasks in unknown environments. The robot has four different configurations. And they contain a six legs configuration, a two wheels configuration, a three wheels configuration, and a star shape configuration. Four different configurations can be transformed to each other. This paper mainly introduces the kinematics of the reconfigurable robot and the schemes of the transformations according to the kinematics model. Finally, in order to verify the feasibility of the simulation reconfiguration schemes, experiments are carried out.