基于图论的可重构机器人构型综合  

CONFIGURATION SYNTHESIS OF RECONFIGURABLE ROBOT BASED ON GRAPH THEORY

作　　者：于海波[1] 于靖军[1] 毕树生[1] 宗光华[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《机械工程学报》2005年第8期79-83,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50475002)。

摘　　要：提出了一种简单而有效的可重构机器人构型综合方法,应用的理论基础是图论。为此,首先将可重构机器人的各模块抽象为积木块,这样,可重构机器人系统可用一个图来描述,基于图论原理和模块间的连接约束条件, 得到模块所有可行的组合装配构型。利用该方法对一种由齿轮传动模块、齿条传动模块、带传动模块和平面连杆机构等4个模块组成的4自由度可重构机器人进行了构型综合,得到了它全部6种可行的装配构型,从而有效地完成了可重构机器人的概念设计。A simple but effective configuration synthesis method for reconfigurable robot based on the graph theory is presented. For this purpose, all modules made up of a reconfigurable robot are abstracted the building blocks firstly, thus the mapping between graph and the reconfigurable robot can be established. According to graph theory and the restriction of combination among all modules, all feasible assembly configurations for the reconfigurable robot are enumerated correspondingly. To verify the proposed method, the configuration synthesis of a 4-DOF reconfigurable robot, composed by four modules i.e. a gear-driven module, a rack-driven module, a strap-driven module, and a planar linkage module is investigated, and all six feasible assembly configurations corresponding to the robot is achieved. As a result, the conceptual design of the reconfigurable robot is accomplished effectively.

关 键 词：机器人 综合 可重构机器人 图论 构型综合 

分 类 号：TP206.1[自动化与计算机技术—检测技术与自动化装置]