|کد مقاله||سال انتشار||مقاله انگلیسی||ترجمه فارسی||تعداد کلمات|
|148870||2018||11 صفحه PDF||سفارش دهید||6717 کلمه|
Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)
Journal : Mechanism and Machine Theory, Volume 124, June 2018, Pages 248-258
Biological cells and tissues have diversified behaviors, which are supported by active tissues and passive tissues. Inspired by this, an underactuated self-reconfigurable robot was designed with passive joints and active joints. The inclusion of passive joints can offer benefits not only on cost but also on functionality. This paper presents the architecture of the underactuated self-reconfigurable robot, a computational model of reconfiguration planning and reconfiguration scheduling. An experiment is given to demonstrate the reconfiguration process.