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MODUR: A Modular Dual-reconfigurable Robot

Jie Gu, Tin Lun Lam, Chunxu Tian, Zhihao Xia, Yongheng Xing, Dan Zhang

TL;DR

MODUR addresses the limitations of conventional MSRRs by introducing dual-reconfigurability through reconfigurable module components. It integrates hermaphrodite connectors with scissor-linkage groups to create a spherical reconfigurable parallel mechanism (SRPM) that decouples inter-module connector motion and enables adjacent position migration, enabling true 3D reconfiguration. A closed kinematic model and workspace analysis quantify feasible configurations, while a 3D-printed prototype validates manipulation strategies, redundant actuation benefits, and a hierarchical control scheme (HAPID). The results demonstrate improved motion decoupling, extended reconfiguration capabilities, and practical viability for complex modular manipulation tasks, with clear paths toward tighter electronics integration and planning frameworks.

Abstract

Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, featuring dual-level reconfiguration capabilities designed to integrate reconfigurable mechanisms into MSRR. Specifically, MODUR can perform high-level self-reconfiguration among modules to create different configurations, while each module is also able to change its shape to execute basic motions. The design of MODUR primarily includes a compact connector and scissor linkage groups that provide actuation, forming a parallel mechanism capable of achieving both connector motion decoupling and adjacent position migration capabilities. Furthermore, the workspace, considering the interdependent connectors, is comprehensively analyzed, laying a theoretical foundation for the design of the module's basic motion. Finally, the motion of MODUR is validated through a series of experiments.

MODUR: A Modular Dual-reconfigurable Robot

TL;DR

MODUR addresses the limitations of conventional MSRRs by introducing dual-reconfigurability through reconfigurable module components. It integrates hermaphrodite connectors with scissor-linkage groups to create a spherical reconfigurable parallel mechanism (SRPM) that decouples inter-module connector motion and enables adjacent position migration, enabling true 3D reconfiguration. A closed kinematic model and workspace analysis quantify feasible configurations, while a 3D-printed prototype validates manipulation strategies, redundant actuation benefits, and a hierarchical control scheme (HAPID). The results demonstrate improved motion decoupling, extended reconfiguration capabilities, and practical viability for complex modular manipulation tasks, with clear paths toward tighter electronics integration and planning frameworks.

Abstract

Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, featuring dual-level reconfiguration capabilities designed to integrate reconfigurable mechanisms into MSRR. Specifically, MODUR can perform high-level self-reconfiguration among modules to create different configurations, while each module is also able to change its shape to execute basic motions. The design of MODUR primarily includes a compact connector and scissor linkage groups that provide actuation, forming a parallel mechanism capable of achieving both connector motion decoupling and adjacent position migration capabilities. Furthermore, the workspace, considering the interdependent connectors, is comprehensively analyzed, laying a theoretical foundation for the design of the module's basic motion. Finally, the motion of MODUR is validated through a series of experiments.
Paper Structure (14 sections, 9 equations, 9 figures, 1 table)

This paper contains 14 sections, 9 equations, 9 figures, 1 table.

Table of Contents

  1. Introduction
  2. Mechanism Design of MODUR module
  3. Connector
  4. Scissor linkage groups
  5. Motion Analysis
  6. Kinematic Model
  7. Workspace analysis
  8. Basic Motion
  9. Implementations and experiments
  10. Manipulation
  11. Control strategy
  12. Accuracy
  13. 3D Reconfiguration
  14. conclusion

Figures (9)

  • Figure 1: Schematic diagram of integrating reconfigurable mechanisms into MSRRs to derive our new conceptual model. (a) The combination of the common spherical chain MSRR and the reconfigurable truss structure, with the latter constrained within a spherical surface, forms the SRPM. (b) Simplified model, where the connectors at the vertices are rigidly connected to the associated SLGs.
  • Figure 2: The specific mechanical structure design of the MODUR module. (a) The overall structure, which is composed of SLGs and connectors. (b) Exploded view of the connector. (c) Cross-sectional view when the connectors are connected. (d) The composition of the SLGs. (e) The planar design diagram of the SLG.
  • Figure 3: The abstract model of MODUR, where coordinate frames are established, and parameters are labeled.
  • Figure 4: The workspace under different conditions where some connectors are in a connected state. (a) WSB reflects the impact of the positions of connector B on the workspace of connector C. (b) WSA reflects the impact of the positions of connector A on the workspace of connector C. (c) Total workspace diagram with no constraints on A and B. (d) The heatmap showing the impact of different B positions on the workspace of C for selected values of A. (e) The workspace diagram of connector C for all positions of connector B (with star) and selected positions of B with A at a specific position (without star), corresponding to (d).
  • Figure 5: Basic motion between modules: Rotation motion and transition motion.
  • ...and 4 more figures