Abstract
A new reconfigurable planetary robots system (RPRS) is introduced. The locomotion mechanism and crossing ditch ability by negotiation among child-robots are analyzed. Three configurations are introduced and their characteristics for crossing ditch compared. In order to cross the ditch whose width is broader than the length of the triangle wheel’s edge, a novel method based on the locomotion mechanism of the child-robot is proposed. This makes the two leading robots hold the first robot together with their velocities in opposite directions. Statics for the reconfigurable robot group are analyzed. The result shows that the motors can supply sufficient force moment to cross channel. Simulation experiments are carried out with VC and OPENGL.
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