STRUCTURAL DESIGN OF ROBOT MODULARIZATION

FEI Yanqiong, ZHAO Xifang, XU Weiliang. STRUCTURAL DESIGN OF ROBOT MODULARIZATION[J]. ROBOT, 1999, 21(3): 223-228.

Citation:

FEI Yanqiong, ZHAO Xifang, XU Weiliang. STRUCTURAL DESIGN OF ROBOT MODULARIZATION[J]. ROBOT, 1999, 21(3): 223-228.

Citation:

FEI Yanqiong, ZHAO Xifang, XU Weiliang. STRUCTURAL DESIGN OF ROBOT MODULARIZATION[J]. ROBOT, 1999, 21(3): 223-228.

Abstract

This paper analyzes the structure of modular robot, of which the link module is of cuboid. Nine kinds of module-connecting methods and three types of joint modules are induced. Based on the method of Plucker coordinates, the coordinate system and the corresponding mathematical expressions for each kind of module are set up.

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