A NEW KIND OF RECONFIGURABLE TREE-TYPE ROBOTS

This paper proposes a new kind of reconfigurable robotic model which is of a tree-type structure.First,the model and structural change of the reconfigurable tree-type robot are studied.Secondly,the structuralcharacterization and the kinematic and dynamic equations of tree-type robot are investigated,which is thebase for investigating the reconfigurable robot.Then,the structural change of the reconfigurable robot ischaracterized by a structural matrix and an auxiliary structural change matrix.Finally,the kinematic and dy-namic equations of the reconfigurable robot are established.