Assembly Configuration Representation and Kinematic Modeling for Modular Reconfigurable Robots Based on Graph Theory

A Modular Reconfigurable Robot (MRR) composed of standard joint and link modules has the advantages rapid changeover assembly configurations for a diversity application requirements. To tackle kinematics analysis issues an MRR, it is essential to develop generic method mathematically represent all possible automatically generate their kinematic models. In this paper, two types robot modules, i.e., revolute rigid are considered as basic building blocks MRR. The topological structure MRR represented by graph, termed Assembly Graph (AG), in which regardless types, treated vertices, while connecting interfaces between any edges. Based on graph theory, modified adjacency matrix, Adjacency Matrix (AAM), proposed configuration three-dimensional information specified with port vectors adjacent modules. path matrix derived from AAM employed describe sequence its constituting local frame representation Product-of-Exponentials (POE) formula employed, configuration-independent. Therefore, AAM, model will be generated according matrix. modeling validated through dual-branch configuration.