Bachelor Thesis BCLR-2353

BibliographyGanzhorn, Jutta: Analysis of Kinematics and Dynamics of Modular Robot Assemblies.
University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Bachelor Thesis No. 2353 (2012).
51 pages, english.
CR-SchemaI.2.2 (Automatic Programming)
I.2.6 (Artificial Intelligence Learning)
I.2.9 (Robotics)
I.2.11 (Distributed Artificial Intelligence)


The development of self-reconfigurable modular robots has experienced significant progress. Continuous improvement during the past twenty years produced flexible and easy maintainable robot mechanisms. Self reconfiguring modular robots consist of various similar robotic modules and are designed to establish manifold connections between each of these link modules. Moreover these modules are able to perform movements to change the shape or the position of the robotic chain. In this thesis the main focus lies on the analysis of kinematics and dynamics of small modular robot organisms and their movement pattern. Although diverse linkage mechanisms do exist, practically no motion of one module can be accomplished without interacting with a second one. Therefore furthermore fundamental is the study and examination of dyad kinematics which represent the pattern of movement between solely two modules. However generation and simulation of models of modular robot kinematics and dynamics are complex and manual derivation needs tremendous efforts as every configuration and alternation of shape induce new changes of parametersī values. Besides machinedriven computation requires a great deal of energy and increased storage capacity if every module constellation and applicable movements are predefined in a database. To avoid this squandering of resources a framework is implemented in Matlab based on Chenīs theory to design an accurate dynamic model. In the end, this thesis shall provide a farther step towards a robust and flexible modular robot organism which is able to perform reliable interaction with the environment to constitute to an optimized and effective realization of tasks assigned to it in industry or in the future private households.

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Department(s)University of Stuttgart, Institute of Parallel and Distributed Systems, Parallel Systems
Superviser(s)Dipl.-Ing. Eugen Meister
Entry dateFebruary 17, 2012
   Publ. Computer Science