Abstract. Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot's configurations are represented in a mathematical way, forward kinematics can be obtained.
Operators in railway Industry have to cope with an heterogenic network, with different gauges and supply systems.For being able to run on these tracks, Operators require different types of trains, each one adapted to the specific characteristics of the line. This fact prevents scale-economies to be applied to the sector, managing in a less efficient way peak and valley demands as well as maintenance tasks. Talgo Hybrid Train is the perfect and long-time demanded solution for this problem. It can run on both electrified and non-electrified lines, and within electrified lines both AC and DC supply is supported.Furthermore propulsion bogies have been designed to allow dynamic gauge change. Talgo Hybrid Train is an all-track train that provides maximum interoperability, eliminating railway barriers since one train is enough to operate on almost any line.
Abstract-this paper shows the advantages of having a modular system with 3-DoF spherical actuator in the base module to perform tasks that require displacement and object manipulation. Having 3-DoF actuator improves the complexity of coordination patterns and control algorithms of the modular system more relevantly as compared to having only 1 or 2DoF actuator in the module. Nevertheless, modules with actuators of only 1 or 2DoF require more modules to be assembled together in order to achieve complex tasks. Experiments performed with RobMAT modular system proves that a 3DoF actuator in the module is better, because tasks such as displacement, obstacle climbing and object manipulation, can be efficiently carried out with systems of 2 modules, 4 modules and 6 (maximum) modules connected together.
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