自重构模块化机器人的运动空间及自变形算法  

Motion Spaces and Self-morphing Algorithm of Self-reconfigurable Modular Robot

作　　者：费燕琼[1] 张鑫[1] 夏振兴[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《机械工程学报》2009年第3期197-202,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50305021;50775145);上海市自然科学基金(07ZR14050)资助项目

摘　　要：设计一种新颖的同构式模块化自重构机器人系统,该自重构机器人系统的基本模块由1个中心体和6个旋转面组成。根据模块的运动特征及棋盘规则的约束,以Oxy平面为例,分4种情况,研究并归纳出该自重构模块化机器人系统的可能运动空间。利用当前构型重心和目标构型重心之间距离的函数作为驱动模块运动的启发信息,根据每个模块自身的可能运动空间,并结合模块对目标位置的逐步填充方式共同完成系统的自重构运动规划。为了能快速完成该类自重构模块化机器人的自变形任务,定义模块的优先运动系数,规定模块的填充原则,将逐步填充式自变形算法进行一定优化,得出该类自重构模块化机器人系统的自变形方法。最后给出一个16模块自重构机器人系统的变形仿真实例,证明上述方法的可行性。A novel,-homogenous, self-reconfigurable modular robot system is designed, which consists of one center cube and six rotary sides. According to the motion features of each module and the constraints of chessboard rules, such as the Oxy plane, there are four kinds of states. Then, the possible motion space is studied and concluded. A distance function of the present configuration center and the goal configuration center is used as the heuristic information which can drive the modules to move. According to the possible motion spaces of each module, the automatic matching method of modules＇ motion spaces and target structure spaces is applied to realize the self-morphing process of the self-reconfigurable modular robots step by step. In order to finish the self-morphing task quickly, the preferential motion coefficient is defined, the filling rules of modules are given. Then, the algorithm is optimized. Finally, a simulation with sixteen modules of the self-reconfigurable robot is shown to prove the feasibility of the said method.

关 键 词：自重构机器人 模块 自变形 运动空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]