JL-2: A Mobile Multi-robot System with Docking and Manipulating Capabilities | Zendy

Wei Wang | Zendy; Wenpeng Yu | Zendy; Houxiang Zhang | Zendy

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JL-2: A Mobile Multi-robot System with Docking and Manipulating Capabilities

Author(s) -

Wei Wang,

Wenpeng Yu,

Houxiang Zhang

Publication year - 2010

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/7256

Subject(s) - computer science , dock , robot , mobile robot , control reconfiguration , docking (animal) , embedded system , simulation , artificial intelligence , engineering , medicine , nursing , marine engineering

This paper presents a new version of the JL series reconfigurable multi-robot system called JL-2. By virtue of the docking manipulator composed of a parallel mechanism and a cam gripper, every mobile robot in the JL-2 system is able to not only perform tasks in parallel, e.g. moving and grasping, but also dock with each other even if there are large misalignments between two robots. A motorized spherical joint is formed between two docked robots to enhance the locomotion capability of JL-2. To fulfill the demands of reconfiguration, a distributed control system and sonar based docking guidance system are designed for the JL-2 prototype. Based on the above design, the JL-2 prototype has been built and successfully demonstrated to confirm the validity and functionality of the proposed capabilities

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