Abstract
Theory of mechanisms with variable structure in robotic applications self-reconfigurable structures is one of the directions of development of robotics. On our faculty is developed self-reconfigurable modular robotic system capable of rebuilding a structure according to the requirements of the current task. To perform kinematic changes of its structure we needs to have information on where to find the modules and their submodules. Therefore it is necessary to know the mathematical relationship between the positions of its individual parts. Spatial kinematic chains is investigated based on the theory of simultaneous movements, where the position of each member is specified in the global coordinate system using local coordinate systems associated with individual members. To identify the position of the individual local coordinate systems were used transformation matrix, the accuracy of which is verified in mathematical programs and results from these programs are then compared with results of movement analysis notified by simulation procedures.
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