Abstract
A novel link-type reconfigurable robot which can shift shape is proposed and a three-module robot platform is introduced. A single module mainly includes module body, the link arm and the offset joints. The number of the module can be decided by actual need. The link type has two kinds of linkage, which is regular linkage and irregular linkage. The relative position of the adjacent modules can be changed through rotation of the offset joints. Numerous non-isomorphic configurations of the robot come from restructuring and shape shifting. The configuration matrices are proposed to represent the topology configurations of the reconfigurable module robot. According to combination principle, recursive algorithm is proposed to enumerate and evaluate the non-isomorphic configurations and non-isomorphic symmetry configurations. Three-module reconfigurable shape-shifting robot's symmetry con- figurations are designed to testify the algorithm's validity.
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