Automated modeling of modular robotic configurations

被引：33

作者：

Bi, Z. M.

Gruver, W. A. ^{[1
]}

Zhang, W. J.

Lang, S. Y. T.

机构：

[1] Simon Fraser Univ, Sch Engn Sci, Intelligent & Distributed Enterprise Automat Lab, Burnaby, BC V5A 1S6, Canada

[2] Univ Saskatchewan, Dept Mech Engn, Adv Engn Design Lab, Saskatoon, SK S7N 5A9, Canada

[3] CNR, Integrated Mfg Technol Inst, London, ON N5Y 4V4, Canada

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2006年 / 54卷 / 12期

关键词：

modular robotic system; reconfigurable robot; modular architecture; configuration design; finite element method; automatic modeling; computer-aided design;

D O I：

10.1016/j.robot.2006.04.017

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This research presents an automated method to build kinematic and dynamic models for assembling modular components of modular robotic systems. By comparison with other approaches, the proposed method is applicable to any robotic configuration with serial, parallel, or hybrid structures. In addition, it is object oriented so that each modular component is an element with a submodel and the overall model can be assembled from submodels subject to the connection constraints. (C) 2006 Elsevier B.V. All rights reserved.

引用

页码：1015 / 1025

页数：11

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