Structure Design and Motion Characteristics Analysis of Modular Robot

Aiming at the problem that the yaw angle and pitching bearing capacity of traditional robot joints are limited in the process of motion, to improve robot yaw and pitching motion performance, a single motor driven biaxial yaw joint module with large yaw angle characteristics and a pitching joint module based on parallelogram structure and spring components with low power consumption and high bearing performance characteristics are proposed and analyzed. A typical 3-DOF robot based on the two kinds of novel modules is designed, the kinematics model is established, and the workspace of the modular robot is obtained using the Monte Carlo method. The yaw capacity of the proposed module have been verified through experiments, and the results show that the modular robot operates smoothly and the two kinds of novel modules can achieve the design requirements.