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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.13356 |
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| _version_ | 1866912850944983040 |
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| author | Gu, Jie Lam, Tin Lun Tian, Chunxu Xia, Zhihao Xing, Yongheng Zhang, Dan |
| author_facet | Gu, Jie Lam, Tin Lun Tian, Chunxu Xia, Zhihao Xing, Yongheng Zhang, Dan |
| contents | Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, featuring dual-level reconfiguration capabilities designed to integrate reconfigurable mechanisms into MSRR. Specifically, MODUR can perform high-level self-reconfiguration among modules to create different configurations, while each module is also able to change its shape to execute basic motions. The design of MODUR primarily includes a compact connector and scissor linkage groups that provide actuation, forming a parallel mechanism capable of achieving both connector motion decoupling and adjacent position migration capabilities. Furthermore, the workspace, considering the interdependent connectors, is comprehensively analyzed, laying a theoretical foundation for the design of the module's basic motion. Finally, the motion of MODUR is validated through a series of experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_13356 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | MODUR: A Modular Dual-reconfigurable Robot Gu, Jie Lam, Tin Lun Tian, Chunxu Xia, Zhihao Xing, Yongheng Zhang, Dan Robotics Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, featuring dual-level reconfiguration capabilities designed to integrate reconfigurable mechanisms into MSRR. Specifically, MODUR can perform high-level self-reconfiguration among modules to create different configurations, while each module is also able to change its shape to execute basic motions. The design of MODUR primarily includes a compact connector and scissor linkage groups that provide actuation, forming a parallel mechanism capable of achieving both connector motion decoupling and adjacent position migration capabilities. Furthermore, the workspace, considering the interdependent connectors, is comprehensively analyzed, laying a theoretical foundation for the design of the module's basic motion. Finally, the motion of MODUR is validated through a series of experiments. |
| title | MODUR: A Modular Dual-reconfigurable Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.13356 |