• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.11
• /
• pp.46-53
• /
• 2002

In order to overcome the conventional robot's physical limitation to frequent changes in operational requirements, it is quite appealing to modularize its system components and allow them to be combined into various configurations to best suit the needs to a particular application. Several researchers have presented the concept of modular robot. In this paper, the kinematics and dynamics of modular robot are studied, which concretes the concept of modular robot. This study includes the selection of individual module, the definition of their parameters and the development of module based manipulate. analysis software package (MBMAP).