Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system

Wenpeng Yu; Wei Wang; Zongliang Li; Huilin Tang; Guanghua Zong

doi:10.1109/ROBIO.2009.5420579

Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system

Wenpeng Yu^*
, Wei Wang
, Zongliang Li
, Huilin Tang
, Guanghua Zong

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Rigid docking is important for field modular self-reconfigurable robot system, and 6-dimension position/orientation offset should be conquered during alignment. This paper builds geometric constraint model of fundamental aligning methods and defines a 2-element state vector to evaluate position/orientation offset. Then, a 3-DOF hybrid rigid docking mechanism is introduced to achieve rigid docking in rugged terrain. This paper also gives out its maximum allowable offset. Based on this solution, JI-2 prototype rigid docking mechanism is developed and tested. Following experiments shows that this docking mechanism is suitable for rigid docking of field modular self-reconfigurable robots in rugged terrain.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	747-752
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420579
State	Published - 2009
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	19/12/09 → 23/12/09

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10.1109/ROBIO.2009.5420579

Cite this

Yu, W., Wang, W., Li, Z., Tang, H., & Zong, G. (2009). Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 747-752). Article 5420579 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420579

@inproceedings{f22b8ed53a484f72bc321e3cce46d741,

title = "Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system",

abstract = "Rigid docking is important for field modular self-reconfigurable robot system, and 6-dimension position/orientation offset should be conquered during alignment. This paper builds geometric constraint model of fundamental aligning methods and defines a 2-element state vector to evaluate position/orientation offset. Then, a 3-DOF hybrid rigid docking mechanism is introduced to achieve rigid docking in rugged terrain. This paper also gives out its maximum allowable offset. Based on this solution, JI-2 prototype rigid docking mechanism is developed and tested. Following experiments shows that this docking mechanism is suitable for rigid docking of field modular self-reconfigurable robots in rugged terrain.",

author = "Wenpeng Yu and Wei Wang and Zongliang Li and Huilin Tang and Guanghua Zong",

year = "2009",

doi = "10.1109/ROBIO.2009.5420579",

language = "英语",

isbn = "9781424447756",

series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

pages = "747--752",

booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",

}

Yu, W, Wang, W, Li, Z, Tang, H & Zong, G 2009, Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420579, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 747-752, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 19/12/09. https://doi.org/10.1109/ROBIO.2009.5420579

Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system. / Yu, Wenpeng; Wang, Wei; Li, Zongliang et al.
2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 747-752 5420579 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system

AU - Yu, Wenpeng

AU - Wang, Wei

AU - Li, Zongliang

AU - Tang, Huilin

AU - Zong, Guanghua

PY - 2009

Y1 - 2009

N2 - Rigid docking is important for field modular self-reconfigurable robot system, and 6-dimension position/orientation offset should be conquered during alignment. This paper builds geometric constraint model of fundamental aligning methods and defines a 2-element state vector to evaluate position/orientation offset. Then, a 3-DOF hybrid rigid docking mechanism is introduced to achieve rigid docking in rugged terrain. This paper also gives out its maximum allowable offset. Based on this solution, JI-2 prototype rigid docking mechanism is developed and tested. Following experiments shows that this docking mechanism is suitable for rigid docking of field modular self-reconfigurable robots in rugged terrain.

AB - Rigid docking is important for field modular self-reconfigurable robot system, and 6-dimension position/orientation offset should be conquered during alignment. This paper builds geometric constraint model of fundamental aligning methods and defines a 2-element state vector to evaluate position/orientation offset. Then, a 3-DOF hybrid rigid docking mechanism is introduced to achieve rigid docking in rugged terrain. This paper also gives out its maximum allowable offset. Based on this solution, JI-2 prototype rigid docking mechanism is developed and tested. Following experiments shows that this docking mechanism is suitable for rigid docking of field modular self-reconfigurable robots in rugged terrain.

UR - https://www.scopus.com/pages/publications/77951490214

U2 - 10.1109/ROBIO.2009.5420579

DO - 10.1109/ROBIO.2009.5420579

M3 - 会议稿件

AN - SCOPUS:77951490214

SN - 9781424447756

T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

SP - 747

EP - 752

BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Y2 - 19 December 2009 through 23 December 2009

ER -

Research and design of rigid docking mechanism applied on field modular self-reconfigurable robot system

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