Abstract—For the self-reconfigurable robot, one of its main functions is its self-repairing ability. First, the mechanical structure of the self-repairing robot is presented, which composes of a central cube and six rotary arms. In order to finish the self-repairing action, the disconnection/connection mechanism of each module is designed, which consists of one expansile hole (connection hole) and one extension peg (connection peg). Then, the docking process is analyzed with the geometric method. Contact states in the docking process are explained in detail. At last, a simulation of six-module is shown that the modules can finish the docking process effectively.

Index Terms—self-reconfigurable robot, self-repairing, process, module

Cite: Yanqiong Fei, Pengwei Gong, and Libo Song, "Docking Process Analysis in Self-repairing Robots," Jounal of Automation and Control Engineering, Vol. 3, No. 3, pp. 196-200, June, 2015. doi: 10.12720/joace.3.3.196-200