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Reconfigurable Chains of Bifurcating Type III Bricard Linkages Read chapter Read first chapter

2016 | OriginalPaper | Chapter

Prototype Design of a Rubik Snake Robot

Authors : Xin Zhang, Jinguo Liu

Published in: Advances in Reconfigurable Mechanisms and Robots II

Publisher: Springer International Publishing

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Abstract

This paper presents a reconfigurable modular mechanism—Rubik Snake robot, which can change its configurations by changing the position relationship of modules. The geometric characteristics and design process of the module are described in detail, and the module’s features ensure Rubik Snake robot to own a strong ability of transformation and manipulation. Through the structural statics and dynamics analysis, the mechanical properties of the system are verified to meet the requirements of missions. Furthermore, a platform was fabricated, and a configurations experiment identified the rationality of the platform. Two potential space applications of Rubik Snake robot: reconfigurable structures and reconfigurable mechanisms, are introduced to fulfill the future space station missions. We hope our study will give insights into the reconfigurable modular robot applications on future space application.

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Metadata
Title
Prototype Design of a Rubik Snake Robot
Authors
Xin Zhang
Jinguo Liu
Copyright Year
2016
Book
Advances in Reconfigurable Mechanisms and Robots II

Print ISBN: 978-3-319-23326-0

Electronic ISBN: 978-3-319-23327-7

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-23327-7_50