Self-reconfiguration robot modeling and topology configurations enumerating

摘要

Topology configuration of a self-reconfigurable robot decided working performance of the robot. Therefore, taking reconfigurable robot which had 2 degree of freedoms (DOFs) and androgynous connect face for example, A new assemble incidence matrix based on graph theorem was defined to establish robot configuration model. Then according to the module symmetry in 3D space and combination principle, all non-isomorphic configurations of 3-module self-reconfigurable robot were solved. At last all configurations of 3-module robot were found and the validity of algorithm was testified by using Matlab software ssimulating.