The International Journal of Robotics Study, Ahead of Publish.
The innate modularity and reconfigurability of modular reconfigurable robotic (MRR) systems provide benefits such as flexibility, mistake resistance, and financial effectiveness, consequently showcasing significant prospective throughout varied applications. The continual advancement of the modern technology landscape and the development of varied theoretical styles have actually produced several MRR classifications, each explained by its corresponding morphology or ability qualities, bring about some uncertainty in the taxonomy. This paper performs an extensive study covering a vast array of system and style elements of MRR systems, covering from 1985 to 2023. It presents an ingenious, unified theoretical structure for recognizing MRR equipment, which includes 3 crucial components: ports, actuators, and homogeneity. Via the application of this trilateral structure, this paper methodically analyzes and categorizes MRR systems for many years, intending to offer an organized taxonomy viewpoint and boost understanding of MRR. It discusses the essential features defining MRR systems and their compositional elements, supplying understandings right into their style, modern technology, performance, and classification. Increased by the recommended trilateral structure, this paper likewise specifies on the trajectory of advancement, dominating patterns, primary obstacles, and prospective leads within the area of MRR.
发布者：Guanqi Liang，转转请注明出处：https://robotalks.cn/decoding-modular-reconfigurable-robots-a-survey-on-mechanisms-and-design/
