Choice of Kinematic Structure of Modular Robotic System Depending on the Type of Motion Surface

Purpose of research. The purpose of this study is to identify the advantages and disadvantages of various kinematic structures (formations) of self-reconfigurable modular robotic systems depending on the type of surface over which the system is mainly to be moved.Methods. Analysis of kinematic structures of modular robotic systems with respect to their displacement capabilities was carried out. Features of movement of these formations on different surfaces, as well as features of application of some formations are highlighted. A study of functionality of its own mobile autonomous reconfigurable system was carried out on the basis of described formations.Results. According to the results of the study, the main structures of modular robotic systems were identified, among which the most popular are formations that have a chain architecture: "snake," "manipulator"; "walking" structures: "quadropod," "spider," "centipede," as well as mobile structures "machine," "wheel" and "ball." Based on the conducted analysis, structures were developed for their own modular robotics system. Geometric features and kinematic limitations of its modules were considered in developing the structuresConclusion. The use of the analysis results will allow better adaptation of a modular self-reconfigurable robotic system to the surface on which this system moves. The selection of a particular formation of the modular system is also influenced by the required speed of movement over a given surface. Walking formations have the greatest adaptability to various types of surfaces, but they are also the most difficult from the point of view of control system developing.