Dynamical Research Based on a New Type of Reconfigurable Robot

Currently, the reconfigurable robot has become a hot topic for its diverse configurations. In this thesis, a new type of reconfigurable robot system is proposed, whose main modules are cylinders, which makes its structure quite compact and dexterous. Taking this kind of robot as an example, some new methods for robot module modeling and reconfiguration modeling are figured out, according to which a reconfigurable robot of any configuration can set up a dynamical model for itself automatically. By analyzing the velocities, forces and torques of each module, the dynamical functions of the robot are established, using the Newton-Euler method. Finally the six degree of freedom PUMA robot is used to carry out the experimental simulation to test the reliability and applicability of this method proposed in this thesis.