Title :
Enumeration of planar metamorphic robots configurations
Author :
Martins, Daniel ; Simoni, Roberto
Author_Institution :
Dept. of Mech. Eng., Fed. Univ. of Santa Catarina, Florianopolis, Brazil
Abstract :
This paper considers how to enumerate all the non-isomorphic configurations of a planar metamorphic robotic system. A metamorphic robotic system is a collection of mechatronic modules that can dynamically self-reconfigure in a variety of configurations, kinematic chains, to meet different or changing task requirements. However, due to typical symmetries in module design, different assemblies may generate isomorphic robotic structures. To solve this problem, we use group theory tools for the identification of symmetries of metamorphic robotic systems. In particular, we define the concept of binary orbits of the automorphism group of the graphs associated with the metamorphic robot configurations.
Keywords :
graph theory; group theory; mechatronics; robot dynamics; robot kinematics; automorphism group; binary orbit; dynamic self-reconfiguration; graph theory; group theory tool; isomorphic robotic structure; kinematic chain; mechatronic module; module design; nonisomorphic configuration; planar metamorphic robot configuration; symmetry identification; Kinematics; Mechanical engineering; Mechatronics; Orbital robotics; Orbits; Robotic assembly; Robotics and automation; Robots; Transmission line matrix methods; Upper bound; automorphisms; enumeration; group theory; isomorphisms; metamorphic robot configurations; orbits;
Conference_Titel :
Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on
Conference_Location :
London
Print_ISBN :
978-88-89007-37-2
Electronic_ISBN :
978-1-876346-58-4