自重构机器人的基本模块结构设计与分析  

Structural Design and Analysis of a Module in Self-reconfigurable Robots

作　　者：费燕琼[1] 夏振兴[1] 夏平[1] 

机构地区：[1]上海交通大学,上海市200030

出　　处：《中国机械工程》2007年第9期1085-1088,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50305021)

摘　　要：给出了一种新颖的点阵晶格型自重构机器人的基本模块,该模块由1个中心体及6个旋转面组成。中心体内由相互正交的6个锥形齿轮组成机械传动结构,完成1个电机驱动6个旋转面转动的功能,旋转面上对称布置一轴和一孔,由旋转面的旋转、前进,完成相邻两模块相应旋转面上的轴插入相应孔中的对接任务。分析了空间模块间的可能运动,并用由3个模块和1个底座组成的自重构机器人系统来说明所设计模块结构的可行性。A novel module of a lattices-based self-reconfigurable robots was presented. Each module consisted of a cube and six rotary sides. There were six cone-shaped gears to finish the inner transmission. A motor worked and six sides to be rotated. There was one peg and one hole in each rotary side to finish two neighboring modules docking action. The possible 3-D motions among modules of the self-reconfigurable robots were analyzed. At last, a self-reconfigurable robot system consisting of three modules and one base was presented to verify the structural design of the module.

关 键 词：自重构机器人 模块 结构 运动规则 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]