Base molecule design and simulation of modular robot RobMAT

Abstract:

This article presents the design of the base molecule for the RobMAT modular robot and the simulation tool MAVES (Modular Agents Virtual Environment Simulator). The base molecule is formed by 3 link atoms, 2-foot accessories and 2 joint atoms with 3 d.o.f. With the developed simulator, it is possible to analyse the kinematics morphology and dynamics behaviour of different configurations. MAVES tool allows evaluating control algorithms in order to minimize some parameters. Denavit-Hartenberg method is applied to calculate the kinematics of the base molecule and from thereon study the singular configuration of the modular robot. Copyright © 2005 IFAC.

Año de publicación:

2005

Keywords:

• Simulators
• Modular robots
• Robot kinematics
• Design systems

Fuente:

scopus