Skip to main content
Springer Nature Link
Log in

MOPARAS: A Modular Parallel Spherical Robot with Position-Adjustable Connectors

  • Conference paper
  • First Online:
Intelligent Robotics and Applications (ICIRA 2024)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 15204))

Included in the following conference series:

  • 20 Accesses

Abstract

This paper proposes a novel modular self-reconfigurable robot named MOPARAS (MOdular PARAllel Spherical robot), which can adjust connector positions to achieve docking in spherical continuous space. MOPARAS is mainly composed of six scissor linkage groups with four connectors arranged at their intersections, which form a parallel RCM mechanism . Compared to existing modular self-reconfigurable robots with fixed connectors, the pose of the four connectors of MOPARAS can be adjusted to attach to its peers, offering more flexible operational capabilities, especially for the aggregates. Additionally, the entire structure maintains rigidity and precision thanks to the parallel mechanism. Subsequently, the kinematics analysis and working space of the module are presented. The basic motion of the module is proposed and abstracted into the interrelationship of inscribed tetrahedrons. Based on this primitive motion, the module can achieve classic chain-like configurations such as manipulators, humanoid robots, and quadruped robots, among others, and can reconfigure between these configurations.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Ünsal, C., Kiliççöte, H., Khosla, P.K.: A modular self-reconfigurable bipartite robotic system: Implementation and motion planning. Auton. Robot. 10, 23–40 (2001)

    Article  MATH  Google Scholar 

  2. Jorgensen, M.W., Ostergaard, E.H., Lund, H.H.: Modular ATRON: modules for a self-reconfigurable robot. In: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No. 04CH37566) (2004)

    Google Scholar 

  3. Saldana, D., et al.: Modquad: the flying modular structure that self-assembles in midair. In: 2018 IEEE International Conference on Robotics and Automation (ICRA) (2018)

    Google Scholar 

  4. Castano, A., Shen, W.-M., Will, P.: CONRO: Towards deployable robots with inter-robots metamorphic capabilities. Auton. Robot. 8, 309–324 (2000)

    Article  Google Scholar 

  5. Yim, M.: New locomotion gaits. In: Proceedings of the 1994 IEEE International conference on Robotics and Automation (1994)

    Google Scholar 

  6. Zhao, J., et al.: A new self-reconfigurable modular robotic system UBot: multi-mode locomotion and self-reconfiguration. In: 2011 IEEE International Conference on Robotics and Automation (2011)

    Google Scholar 

  7. Spinos, A., et al.: Variable topology truss: design and analysis. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2017)

    Google Scholar 

  8. Spinos, A., et al.: Topological reconfiguration planning for a variable topology truss. J. Mech. Robot. 13(4) (2021)

    Google Scholar 

  9. Liang, G., et al.: FreeBOT: a freeform modular self-reconfigurable robot with arbitrary connection point - design and implementation. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6506–6513

    Google Scholar 

  10. Swissler, P., Rubenstein, M.: FireAnt3D: a 3D self-climbing robot towards non-latticed robotic self-assembly. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2020)

    Google Scholar 

  11. Zhao, D., Lam, T.L., SnailBot: a continuously dockable modular self-reconfigurable robot using rocker-bogie suspension. In: 2022 International Conference on Robotics and Automation (ICRA), pp. 4261–4267

    Google Scholar 

  12. Sproewitz, A., et al.: Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture. In: 2009 IEEE International Conference on Robotics and Automation (2009)

    Google Scholar 

  13. Belke, C.H., Paik, J.: Mori: a modular origami robot. IEEE/ASME Trans. Mechatron. 22(5), 2153–2164 (2017)

    Article  MATH  Google Scholar 

  14. Romanishin, J.W., Gilpin, K., Rus, D.: M-blocks: momentum-driven, magnetic modular robots. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (2013)

    Google Scholar 

  15. Sproewitz, A., et al.: Roombots—towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (2010)

    Google Scholar 

  16. Liu, C., et al.: SMORES-EP, a modular robot with parallel self-assembly. Auton. Robot. 47(2), 211–228 (2022)

    Article  MATH  Google Scholar 

  17. Tu, Y., Liang, G., Lam, T.L.: FreeSN: a freeform strut-node structured modular self-reconfigurable robot design and implementation. In: 2022 International Conference on Robotics and Automation (ICRA) (2022)

    Google Scholar 

  18. Li, T., Payandeh, S.: Design of spherical parallel mechanisms for application to laparoscopic surgery. Robotica 20(2), 133–138 (2002)

    Article  MATH  Google Scholar 

  19. Li, L., Zhang, D., Tian, C.: A family of generalized single-loop RCM parallel mechanisms: structure synthesis, kinematic model, and case study. Mech. Mach. Theory 195 (2024)

    Google Scholar 

  20. Bai, S.: Optimum design of spherical parallel manipulators for a prescribed workspace. Mech. Mach. Theory 45(2), 200–211 (2010)

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of AI and Robotics, Academy for Engineering andTechnology, Fudan University, Shanghai, 200433, China

    Jie Gu, Chunxu Tian, Zhihao Xia & Dan Zhang

  2. School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China

    Tin Lun Lam

  3. Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China

    Tin Lun Lam

  4. Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong, China

    Dan Zhang

Authors
  1. Jie Gu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tin Lun Lam
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Chunxu Tian
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Zhihao Xia
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Dan Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Tin Lun Lam or Dan Zhang .

Editor information

Editors and Affiliations

  1. Xi’an Jiaotong University, Xi’an, China

    Xuguang Lan

  2. Xi’an Jiaotong University, Xi’an, China

    Xuesong Mei

  3. Xi’an Jiaotong University, Xi’an, Baden-Württemberg, China

    Caigui Jiang

  4. Xi’an Jiaotong University, Xi’an, China

    Fei Zhao

  5. Xi'an Jiaotong University, Xi'an, China

    Zhiqiang Tian

Rights and permissions

Reprints and permissions

Copyright information

© 2025 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Gu, J., Lam, T.L., Tian, C., Xia, Z., Zhang, D. (2025). MOPARAS: A Modular Parallel Spherical Robot with Position-Adjustable Connectors. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15204. Springer, Singapore. https://doi.org/10.1007/978-981-96-0798-3_27

Download citation

  • DOI: https://doi.org/10.1007/978-981-96-0798-3_27

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-96-0797-6

  • Online ISBN: 978-981-96-0798-3

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics