链式可重构模块化机器人变形机理与实现  

Transmutation Mechanisms and Its Realization of a Chain-type Reconfigurable Modular Robot

作　　者：刘金国[1] 王越超[1] 李斌[1] 马书根[2] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学重点实验室 [2]日本茨城大学工学部系统工程系

出　　处：《农业机械学报》2005年第9期101-105,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家"863"高技术研究发展计划资助项目(项目编号:2001AA422360)

摘　　要：设计了一种手动可重构、自动变形的新型链式模块化机器人机构,它可以通过结构重构和自动变形来改变自身的构形以适应非结构环境中运动和作业的要求。单个标准模块由模块本体、连接臂和偏置关节等组成。偏置关节避免了变形时模块间的运动干涉,扩大了机器人模块间的相对运动空间。设计了一台三模块变形机器人样机,并对该样机进行了由直线形态、三角形态到并排形态的变形实验,此外还对变形机器人不同构形的运动性能进行了实验分析。A manually reconfigurable and transmutable modular robot was developed, which could change its shape to adapt to an environment and a task if needed. The transmutable modular robot has a novel chain-type modularized structure. Like a common moudula, each module of the robot consists of a driving body component, a link arm and offset joints. The offset joints adopted in the novel mechanism were to improve the relative motion space between the adjacent modules. A transmutable robot with three modulars was designed in this work. The metamorphic experiments and the unstructured environment experiments indicated its high flexibility and mobility of the robot.

关 键 词：可重构模块机器人 变形机理 结构设计 实验 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]