自重构机械系统中模块对接及变形  

The Docking and Distortion of Modules in Self-Reconfigurable Robotic System

作　　者：费燕琼[1] 张鑫[1] 徐磊[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《上海交通大学学报》2007年第8期1267-1270,共4页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50305021)

摘　　要：提出了一种新颖的、网格型的自重构机械系统的基本模块.基于模块的结构特点,分析讨论了相邻两模块的对接过程,描述了两模块对接的空间几何关系,给出了几何及控制不确定性时,完成对接最基本的几何约束条件.根据模块对接后完成工作的情况,利用有限元方法分析了模块的变形,并给出了仿真图形.A novel, lattices-based self-reconfigurable module was presented. According to the feature of each module, the docking process and their geometric relationship between two neighboring modules were discussed and analyzed. When the uncertainty about control and geometry occurs, the basic geometric condition is analyzed to finish the docking action. At last, with the finite element method the distortion was analyzed during modules＇ docking process and the simulation results were shown.

关 键 词：自重构 机器人系统 模块 对接 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]