Base Molecule Design and Simulation of Modular Robot RobMAT
| Authors: | Escalera Juan A., Universidad Politecnica de Madrid, Spain
Saltarén Roque, Universidad Politecnica de Madrid, Spain
Ferre Manuel, Universidad Politecnica de Madrid, Spain
Aracil Rafael, Universidad Politecnica de Madrid, Spain
García Cecilia E., Universidad Politecnica de Madrid, Spain |
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| Topic: | 4.3 Robotics |
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| Session: | Mobile Robots II |
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| Keywords: | Modular Robots, Robot Kinematics, Simulators, Design Systems |
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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.
