A Dynamically Reconfigurable Robotic System (Concept Of A System And Optimal Configurations)

摘要

A new concept of robotic systems, "Dynamically Reconfigurable Robotic System(DRRS)" is shown in this paper. Each cell of the robotic module in DRRS can detach itself and combine them autonomously depending on a task, such as manipulators or mobile robots, so that the system can reorganize the optimal total shape, unlike robots developed so far which cannot reorganize automatically by changing the linkage of arms, replacing some links with others or reforming shapes in order to adapt itself to the change of working environments and demands. The newly proposed 'robotic system in this paper can be reconfigurable dynamically to a given task, so that the level of the flexibility and adaptability is much higher than that of the conventionals. DRRS has many unique adavantages, such as optimal shaping under circumstances, fault tolerance, self repairing and others. Some demonstrations can be shown experimentally and a decision method for such cell structured manipulator configurations is also proposed.