Design and Analysis of Modular Mechanisms for Flexible Reconfiguration in Robotics

Abstract

Flexible reconfiguration in robotics pertains to a robotic system's capacity to dynamically adjust its configuration to meet diverse tasks, environmental demands, or operational specifications. This involves the deliberate design of robots with the capability to modify their physical structures, including joint arrangements, links, or components, to efficiently execute a spectrum of tasks. This study introduces the analysis and design of a modular mechanism aimed at morphological reconfiguration in robotic platforms. This adaptability enhances the versatility of robots, enabling them to adeptly handle a variety of tasks in diverse scenarios. The proposed mechanisms and technologies encompass modular designs, adjustable joints, and the capability to seamlessly switch between different end-effectors. The system comprises three gear systems and a joint featuring a convex-toothed sphere. These gears facilitate rotation along pitch and yaw axes, while an internal gear system, utilizing a planetary mechanism, propels a prismatic piston via a screw mechanism. The mathematical modeling, employing Lagrangian mechanics, illustrates globalized dynamics. Control models, grounded in a spherical coordinate model, are scrutinized by deducing the Jacobian matrix. Demonstrating diverse robotic platform configurations, this work exemplifies the concept of flexible reconfiguration, wherein robots adeptly manage varied and dynamic tasks without necessitating manual adjustments or reprogramming. Emphasizing the modeling and numerical simulations of motion analysis, this paper delves into the design of a joint mechanism contributing to the dynamic adaptability and reconfigurability of robots across various tasks.