Reconfiguration of Modular Robots with triangular structure

Abstract

In this paper, we present strategies for the reconfiguration of modular robots with triangular structure. We analyse the kinematics of PARTS, a modular robot, consisting of adaptive triangular cells and present a kinematic model based on a chain of two degree of freedom bipod parallel manipulators. Utilizing meta-modules consisting of four modules arranged in a square geometry, we develop three motion primitives and show the equivalence to a pivoting square modular robot, thus enabling the application of reconfiguration algorithms designed for this class of modular robot. Additionally, we propose strategies for the application to unstructured meshes and outline the next research steps.