Prototype design of a rubik snake robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Prototype design of a rubik snake robot
	Zhang X(张鑫); Liu JG(刘金国)
	2015
会议名称	3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)
会议日期	July 20-22, 2015
会议地点	Beijing, China
关键词	Reconfigurable modular mechanism Geometric characteristics Structural statics and dynamics analysis
卷号	36
页码	581-591
中文摘要	This paper presents a reconfigurable modular mechanism—Rubik Snake robot, which can change its configurations by changing the position relationship of modules. The geometric characteristics and design process of the module are described in detail, and the module’s features ensure Rubik Snake robot to own a strong ability of transformation and manipulation. Through the structural statics and dynamics analysis, the mechanical properties of the system are verified to meet the requirements of missions. Furthermore, a platform was fabricated, and a configurations experiment identified the rationality of the platform. Two potential space applications of Rubik Snake robot: reconfigurable structures and reconfigurable mechanisms, are introduced to fulfill the future space station missions. We hope our study will give insights into the reconfigurable modular robot applications on future space application.
收录类别	EI
产权排序	1
会议录	Mechanisms and Machine Science
会议录出版者	Kluwer Academic Publishers
会议录出版地	Dordrecht, Netherlands
语种	英语
ISSN号	2211-0984
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17324]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Zhang X,Liu JG. Prototype design of a rubik snake robot[C]. 见:3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015). Beijing, China. July 20-22, 2015.