TY - GEN
T1 - MOPARAS: A Modular Parallel Spherical Robot with Position-Adjustable Connectors
AU - Gu, Jie
AU - Lam, Tin Lun
AU - Tian, Chunxu
AU - Xia, Zhihao
AU - Zhang, Dan
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025/1
Y1 - 2025/1
N2 - This paper proposes a novel modular self-reconfigurable robot named MOPARAS (MOdular PARAllel Spherical robot), which can adjust connector positions to achieve docking in spherical continuous space. MOPARAS is mainly composed of six scissor linkage groups with four connectors arranged at their intersections, which form a parallel RCM mechanism. Compared to existing modular self-reconfigurable robots with fixed connectors, the pose of the four connectors of MOPARAS can be adjusted to attach to its peers, offering more flexible operational capabilities, especially for the aggregates. Additionally, the entire structure maintains rigidity and precision thanks to the parallel mechanism. Subsequently, the kinematics analysis and working space of the module are presented. The basic motion of the module is proposed and abstracted into the interrelationship of inscribed tetrahedrons. Based on this primitive motion, the module can achieve classic chain-like configurations such as manipulators, humanoid robots, and quadruped robots, among others, and can reconfigure between these configurations.
AB - This paper proposes a novel modular self-reconfigurable robot named MOPARAS (MOdular PARAllel Spherical robot), which can adjust connector positions to achieve docking in spherical continuous space. MOPARAS is mainly composed of six scissor linkage groups with four connectors arranged at their intersections, which form a parallel RCM mechanism. Compared to existing modular self-reconfigurable robots with fixed connectors, the pose of the four connectors of MOPARAS can be adjusted to attach to its peers, offering more flexible operational capabilities, especially for the aggregates. Additionally, the entire structure maintains rigidity and precision thanks to the parallel mechanism. Subsequently, the kinematics analysis and working space of the module are presented. The basic motion of the module is proposed and abstracted into the interrelationship of inscribed tetrahedrons. Based on this primitive motion, the module can achieve classic chain-like configurations such as manipulators, humanoid robots, and quadruped robots, among others, and can reconfigure between these configurations.
KW - Modular Self-reconfigurable Robots
KW - Parallel Mechanism
KW - RCM Mechanism
UR - https://www.scopus.com/pages/publications/85218501841
U2 - 10.1007/978-981-96-0798-3_27
DO - 10.1007/978-981-96-0798-3_27
M3 - Conference article published in proceeding or book
AN - SCOPUS:85218501841
SN - 9789819607976
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 363
EP - 376
BT - Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings
A2 - Lan, Xuguang
A2 - Mei, Xuesong
A2 - Jiang, Caigui
A2 - Zhao, Fei
A2 - Tian, Zhiqiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024
Y2 - 31 July 2024 through 2 August 2024
ER -