太阳能电池阵模块化自重构机器人模型的设计和运动仿真  

Design and motion simulation of modular self-reconfigurable robot of space solar cell

作　　者：丁越[1] 付庄[1] 朱俊青[1] 蒋东升[1] 赵言正[1] 马培荪[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《东南大学学报（自然科学版）》2009年第S1期100-104,共5页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目(60875058)

摘　　要：为实现空间航天器电池阵部件的自装配与自修复,设计了一种既可用于搭载航天器太阳能电池板,又能通过相互之间的运动转换完成特定任务的正三角形三臂对接平面晶格式自重构机器人模型.每个机器人模块包含有1个中心框体和3条对接单臂,其中每条对接单臂有2个旋转运动关节和1个对接关节,共3个自由度.每条对接臂的运动互不关联,单条对接臂上2个运动关节的电机可各自独立转动.对机器人模块进行了运动规划,推导出变换矩阵,并进行了Simulink动力学仿真.仿真结果表明,该机器人相似模型可以在地面实验室条件下完成构形转换、实施对接等任务.To achieve the function of assembling and self-repairing of spacecraft's solar cell system,a new modular,lattice self-reconfigurable robot with equilateral triangle form and three connecting arms,is proposed to carry space solar cells and accomplish specific missions through structure changing with other modules.Every module contains a center frame and three arms.For each connecting arm,it has two rotating joints and a connecting joint with three degrees of freedom in all.It is independent for each connecting arm and for the motion of its joint motors.A motion planning is conducted to the robot module with corresponding transformation matrix and the result of dynamic simulation with Simulink confirms that the scale model can finish the task of changing structure in the laboratory.

关 键 词：自重构机器人 运动规划 结构设计 仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]