模块化自重构机器人的设计和运动规划  

Self-reconfigurable modular robot and its motion design

作　　者：张玉华[1] 朱延河[1] 赵杰[1] 任宗伟[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：《吉林大学学报（工学版）》2007年第4期925-929,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：黑龙江省博士后科研基金资助项目(LRB-KY02029)

摘　　要：研制了新型模块化自重构机器人DL-CubeII(Doble L CubeⅡ)系统,相对于DL-CubeⅠ系统,DL-CubeⅡ设计了一种小型旋转钩子连接/断开机构用来代替I型中采用的内平衡磁铁结构,在中转机与机器人模块之间采用更可靠的无线通讯;软件方面,提出了一种基于模块规则库和宏动作的启发式规划方法,可以对任意初始构型的机器人在复杂环境中到达指定目标质心位置进行规划。最后给出了硬件实验和几个仿真实验,验证了机器人连接机构的可靠性和自重构算法的可行性。A new self-reconfigurable modular robot DL-CubeⅡ（Double L Cube） was developed, The DL-Cube Ⅱ adopted a small rotating hook connecting/disconnecting mechanism replacing internally balanced magnet mechanism in DL-Cube Ⅰ. Using wireless communication between relay microcomputer and modules, the DL-Cube Ⅱ has more reliable communication ability. In software, a heuristic self-reconfigurable method based module rules and macro motion was developed, it can plan robot motions with any initial configuration go forward to goal centroid location in complicated environments. Several hardware experiments and simulations were given to prove the reliability of connecting mechanism and feasibility of reconfigurable planning method.

关 键 词：自动控制技术 自重构 机器人 连接机构 重构规划 启发式搜索 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]