For the system containing multiple adjustable degree-of-freedom modular units,a mathematical description of the modular robot topology including a standardized process and a kinematics parallel modelling method are proposed.Firstly,a library of the modular unit motion transfer is established,and a mathematical description of the modular robot topology based on the quadruple matrix with the standardized process is proposed.Then,based on the kinematics model of one modular unit,considering the coupling effect between the branches of the modular robot with multiple motion branches,a position-level and speed-level kinematics model is established,which is suitable for chain modular robots.Subsequently,a kinematics parallel modeling method of modular robots is proposed.Both theoretical analysis and simulation results show that this method can be adapted to the rapid modeling of modular robots with various types of topologies.The introduction of topology mathematical description and parallel computing reduces the difficulty of modular robot modeling and improves modeling efficiency.
关键词
模块化机器人/拓扑结构/分支空间雅可比矩阵/并行建模
Key words
modular robot/topology/branch space Jacobian matrix/parallel modelling
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