Morphological Design and Performance Analysis of a Self-reconfigurable Modular Robot for Multi-task Space Applications

doi:10.3901/JME.2025.21.152

Abstract

Abstract: The design and application of modular robots represent a crucial approach to addressing future space multitasking challenges. The morphology of fundamental modular units directly influences the task adaptability of modular robots. To tackle the nonlinear mapping problem between space multitask requirements and modular unit morphology, this study proposes a morphology design and performance analysis method for self-reconfigurable modular robots tailored for space multitasking. First, through graph theory-based inverse mapping and the formulation of mapping rules, two types of basic modular unit morphologies are constructed. Body degrees of freedom (B-DOF) are introduced to enhance posture adjustment capability between interfaces, and morphological parameters are characterized. Next, an improved adaptive differential evolution algorithm is employed, with the unit shape and B-DOF angle as optimization variables. A performance evaluation index encompassing stress distribution uniformity, motion flexibility, and workspace is established to optimize and assess the morphology, yielding optimal parameters: a spherical exterior and a B-DOF angle of 45°. Subsequently, the performance expressions of the two modular units are analyzed, including workspace, motion flexibility, isotropy, and shell stress-strain distribution across different motion transmission chains, demonstrating the superiority of the proposed morphological design. Finally, a simulation of the entire truss assembly process is conducted as a multitask case study. The results show that the modular robot, composed of these units, can autonomously reconfigure into single-arm, dual-arm, and multi-branch configurations, successively accomplishing tasks such as truss grasping, transportation, and assembly. The theoretical findings provide valuable insights for the design of modular robots.

Key words: self-reconfiguring modular robot, morphological design, performance analysis, spatial multitasking, truss assembly

CLC Number:

TP242

AN Xiaokang, JIA Qingxuan, CHEN Gang, LIU Yuqiang, LIU Huawei. Morphological Design and Performance Analysis of a Self-reconfigurable Modular Robot for Multi-task Space Applications[J]. Journal of Mechanical Engineering, 2025, 61(21): 152-167.

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