in this research optimal reconfiguration strategy of the improved srr reconfigurable mobile robot based on force-angle stability measure has been designed using genetic algorithm. path tracking nonlinear controller which keeps robot’s maximum stability has been designed and simulated in matlab. motion equations of the robot have been derived in parametric form by means of newton- euler, lagrang...

This paper presents a reconfigurable cable parallel robot, which spatial topology can be reconfigured through managing the branch numbers and the hoisting points of the end-effector. An experimental prototype of the reconfigurable cable parallel robot is designed and developed. A typical configuration of the reconfigurable cable parallel robot is analyzed as a case study. The finite element ana...

In this paper we examine locomotion in the context of self-reconfigurable robots. Self-reconfigurable robots are robots built from many connected modules. A selfreconfigurable robot can change its shape and configuration by changing the way these modules are connected. The focus of this paper is to understand how several locomotion gaits can be represented in such a robot and how the robot can ...

There seem to be a lot of robots that have been built up until today. Basically, the creation of robot is supposed to be a helper for a human. Robot will replace human whenever the task is really difficult or dangerous to be done by human. Recently, the robots that have been created were made reconfigurable. The purpose is to make the robot to function in more type of surroundings rather than o...

A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape. Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essent...

Self-reconfigurable robots are for the ability to change the shape of multiple cooperated robot modules that can be easily reconfigurable in the different working environment. Related work on twodimensional robots is presented. A novel design for a self-reconfigurable robot, called “Octabot”, is described. The Octabot robot is a two-dimensional self-reconfigurable robot with modules composed of...

The self-reconfigurable modular robot consists of many identical modules. By connecting to/disconnecting from other modules, the whole structure of the robot can transform into arbitrary other configurations. First, the lattice-type self-reconfigurable modular robot is proposed and its disconnected/connected mechanism is analyzed, which can finish self-morphing action. Second, the basic configu...

This paper describes the kinematic design issues of a modular reconfigurable parallel robot. Two types of robot modules, the fixed-dimension joint modules and the variable dimension link modules that can be custom-designed rapidly, are used to facilitate the complex design effort. Module selection and robot configuration enumeration are discussed. The kinematic analysis of modular parallel robo...

This article describes the development of a component-based technology robot system that can be rapidly configured to perform a specific manufacturing task. The system is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The reconfigurable "plug-and-p...