M-Cubes自重构机器人对接过程的变形分析  

Distortion Analysis of the M-Cubes Self-reconfigurable Robot during Docking Process

作　　者：夏平[1] 费燕琼[1] 朱新坚[1] 徐冰[2] 

机构地区：[1]上海交通大学,上海200030 [2]宝山钢铁公司,上海201900

出　　处：《中国机械工程》2007年第12期1453-1456,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M-Cubes自重构模块的实物模型,介绍了该实物模型的机械结构及对接特点;根据实物模型的特征用有限元对单个模块进行了建模。模块在对接及运动过程中,受外界因素的影响,会发生变形,采用有限元对模块进行了变形分析。通过对变形结果的分析,提出了模块可靠、有效、正确对接所遵循的必要条件,为M-Cubes机器人系统能成功地完成自重构运动提供了有效的指导。The mechanism structure and docking process of the urable robot were shown and introduced, and a finite element model M- Cubes modular self- reconfig was built according to its structure characteristics. When the module was connected, it will be distorted by the outside factors. The finite element method was used to analyze the distortion. With the distortion results, the basic condition that the modules can connect with each other was proposed,and the conclusion gives a proper guidance for the M-Cubes robot to complete the self-reconfigurable motion.

关 键 词：自重构 对接 有限元 变形 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]