一种模块化自重构机器人的设计与实现  

Design and Realization of a Modular Self-reconfigurable Robot

作　　者：赵杰[1] 赵剑[1] 张玉华[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《机床与液压》2007年第3期51-53,93,共4页Machine Tool & Hydraulics

摘　　要：介绍了一种新的模块化自重构机器人HitMSRII的设计与实现过程,包括机器人模块的机构设计和控制系统的软硬件设计两个部分。HitMSRII在HitMSRI的基础上加入了接触传感器;引入了无线通讯网络;设计了兼具销孔式可靠性和平面式灵活性的新型的模块分离、连接机构;并将控制方式由原来的集中式改为集中式和分布式相结合的方式,使系统能在不增加传感器的情况下自动采集机器人的整体信息。HitMSRII比HitMSRI的体积更小,质量更轻,驱动和通讯能力也更强。The design and realization of a new modular self-reconfigurable robot were introduced, including the design ot modular structure and the design of software and hardware of the control system. The contact sensor and wireless network of communication were added to the HitMSRⅡ on the basis of HitMSRⅠ. A new detachable and connectible mechanism which possesses both of the reliability of the peg and hole mechanism and the agility of the plane mechanism was designed. Changing centralized control method to the centralized combining with distributed control method, HitMSRⅡ can collect the whole information of the robot automatically without accessional sensors. Compared with HitMSRⅠ, HitMSRⅡ is smaller and lighter, and the capability of drive is stronger as well as the capability of communication.

关 键 词：模块化机器人 自重构 分布式控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]