Analysis on Docking Process in Lattice-type Self-reconfigurable

Abstract

Lattice-type self-reconfigurable modular robot consists of many identical modules. It is a complicated nonlinear system with multi-degree of freedom. By changing the connections among modules, the whole configuration of the robot can transform into arbitrary other nonlinear configurations. The docking process is analyzed with the geometric method. The docking force between two neighbouring modules is described to finish the connections.