Abstract
The modular robot is becoming a prevalent research object in robots because of its unique configuration advantages and performance characteristics. It is possible to form robot configurations with different functions by reconfiguring functional modules. This paper focuses on studying the modular robot’s configuration design and self-reconfiguration process and hopes to realize the industrial application of the modular self-reconfiguration robot to a certain extent. We design robotic configurations with different DOF based on the cellular module of the hexahedron and perform the kinematic analysis of the structure. An innovative design of a modular reconfiguration platform for conformational reorganization is presented, and the collaborative path planning between different modules in the reconfiguration platform is investigated. We propose an optimized ant colony algorithm for reconfiguration path planning and verify the superiority and rationality of this algorithm compared with the traditional ant colony algorithm for platform path planning through simulation experiments.
Highlights
Sci. 2022, 12, 723. https://doi.org/In terms of the individual organization, existing robots may be divided into singleconfiguration robots and modular robots
Modules are assembled intointo celcellular robot configurations with different functions through reasonable obstacle avoidlular robot configurations with different functions through reasonable obstacle avoidance ance strategies andplanning
The heuristic function in the traditional ant colony algorithm usually only takes the inverse of the distance of neighboring nodes, which leads to the tendency of ants to select the nearest optional node to the current node when making path selection
Summary
Sci. 2022, 12, 723. https://doi.org/In terms of the individual organization, existing robots may be divided into singleconfiguration robots and modular robots. Expandability, and manufacturing simplicity, the modular robot outperforms the traditional robot. At the present stage of the industry, welding robots are mainly used in the automotive manufacturing industry. They can perform all kinds of welding work manually to a high standard, with the advantages of high efficiency and good welding quality [2]. The reconfiguration platform is between modules and configurations. Modules are assembled between modules and configurations. The target configuration is set according to the task and a mathematical. The target configuration is set according to the task and a mathematical model is model is built. After determining the number of modules, connection interfaces, and connection nection relationships, the system transmits the information to the module warehouse
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