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Kinematics, self-reconfigurable, metamorphic, modular, robotic system.


Theory of mechanisms with variable structure in robotic applications of self-reconfigurable structures is one of directions of robot development. At our faculty is in development
self-reconfigurable modular robotic system capable of rebuilding a structure according to requirements of the current task. We have designed an algorithm based on transformation matrixes (TM) , an accuracy and a functionality was verified in mathematical programs MathCad® and than in a first application created in Matlab®. Plotting the position of the local coordinate systems (LCS) in the area at the move of the one of the modules and comparing with the tracks from SolidWorks-CosmosMotion® it was found that the

curve along which LCS moves are identical and the TM is properly designed to determine the exact position of each LCS. The TM was implicated in the application written in C# and designed to simulate the behaviour of the self-reconfigurable modular system. The application allows changing the connections between modules, which are then automatically converted to the new TM for new kinematics structure. Mathematical notations of TM for each sub-module allows to the connection of sub-modules according to requirements of the
current task of the system and still have position and orientation vectors to any LCS at a momentary kinematics structure.


Acta Mechanica Slovaca. Volume 16, Issue 3, Pages 6 – 11, ISSN 1335-2393


  Self-Reconfigurable Modular Robotic System


[1] Skařupa, J., Mostýn, L.: Teorie průmyslových robotů, Strojnícka fakulta TU v Košiciach, Vienala Košice, 2003, ISBN 80-88922-35-6,

[2] Brát, V.: Maticové metódy v analýze a syntéze prostorových vázaných mechanických systému. Praha 1981,
[3] Brát, V. – Rosenbert, J. – Jáč, V.: Kinematika, STNL Praha, 1987,
[4] D. Marbach, A.J. Ijspeert, F. Groen et al., Coevolution of configuration and control for homogenous modular robot, In: Proceedings of the Eighth Conference on Intelligent Autonomous Systems (IAS8), 2004, pp. 712-719, IOS Press,
[5] K. Stoy, Emergent Control of Self-Reconfigurable Robots, Ph.D. Thesis, AdapTronics Group, The Maersk Mc-Kinney Moller Institute for Production Technology, University of
Southern Denmark,
[6] Yim, M.; Wei-Min Shen; Salemi, B.; Rus, D.; Moll, M.; Lipson, H.; Klavins, E.; Chirikjian, G.S.; Modular Self-Reconfigurable Robot Systems: Grand Challenges of Robotics, Robotics & Automation Magazine, IEEE, Volume 14, Issue 1, March 2007, pp. 43-52,
[7] Bobovský Z.: Návrh robota s metamorfnou kinematickou štruktúrou : dizertačná práca ; školiteľ Juraj Smrček. - Košice, 2009. - 172 s.,
[8] Trebuňa, F., Smrček, J., Bobovský Z.: The Influence of Shape for Self-Reconfigured Modular Robotic System Characteristics, In: Acta Mechanica Slovaca. Roč. 14, č. 1 (2010), s. 6-12. - ISSN 1335-2393,
[9] Trebuňa, F., Smrček, J., Bobovský Z.: Kinematics of self-reconfigurable robotic system, In: Acta Mechanica Slovaca. Roč.

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