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The Influence of Shape for Self-Reconfigured Modular Robotic System Characteristics

DOI: 10.2478/v10147-011-0001-4

Keywords: Self-reconfigurable robot, principle design, hybrid module

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Abstract:

The theory of mechanisms with a variable structure into the application form of the metamorphous self-reconfigurable structure of robots has been recently developed as a possible direction of an innovative approach to robotic technology. In our faculty, we decide to create module for such robotic system. The result is a unique MMR metamorphous robotic system on the basis of an autonomous MG module which is able to act as a homogenous module, however, at the same time it consists of heterogeneous sub-modules which enable the module to cooperate with other modules and thus create and be transformed into various kinematics structures of robotic system, as may be necessary. Furthermore, the module is able to work as a separate module and to transform its kinematics structure as requested.

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