Analysis on Self-Morphing Process of Self-Reconfigurable Modular Robot

The self-reconfigurable modular robot consists of many identical modules. By connectingto/disconnecting from other modules, the whole structure of the robot can transform into arbitrary otherconfigurations. First, the lattice-type self-reconfigurable modular robot is proposed and its disconnected/connectedmechanism is analyzed, which can finish self-morphing action. Second, the basic configuration of the module isanalyzed with the eigenvector matrix. The motion rules are proposed. Third, the possible motion space is describedwith the geometric feature of modules which is effective for performing the self-morphing process. Then, the selfmorphingmotion process is described with the driving function and the adjacency matrix which is useful to solvethe computation problem and optimize the motion paths of the robot during the self-reconfigurable morphingprocess. Final, an experiment of three-module motion and a simulation of multi-module’s self-morphing processare shown to prove that the above analyses are effective