Critical Analysis of Modern Approaches to the Development of Reconfigurable Wheel-Legged and Reconfigurable Modular Robots

The article discusses modern approaches to the creation of mechatronic modular reconfigurable robots, as well as reconfigurable wheel-legged robots. Based on published research papers, existing solutions are considered in order to analyze and identify design shortcomings and constraints. The key characteristics of robots are highlighted, in particular, mobility characteristics, such as: the possible speed of movement, maneuverability, the number of degrees of freedom of the object being moved by the manipulator. The versatility, reliability, and scalability of the considered robot designs are discussed. the manufacturability of the proposed solutions is evaluated, as well as their feasibility.