基于“风车”形子单元的自重构机器人运动及自重构规划  

Motion and self-reconfiguration planning of self-reconfigurable robot based on windmill-like meta-module

作　　者：任宗伟[1] 朱延河[1] 赵杰[1] 张玉华[1] 

机构地区：[1]哈尔滨工业大学机器人技术及系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2009年第4期436-440,共5页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60705027);国家"863"计划资助项目(2006AA04Z220);长江学者和创新团队发展计划资助项目(IRT0423)

摘　　要：自重构机器人区别于其他类型机器人的一个重要特征是其在具有移动能力的同时还具有自重构能力.为了赋予自重构机器人这2种能力,在分析DL-Cube(double L-cube)自重构机器人单元模型的结构特性基础之上,设计了基于"风车"形子单元的分层规划算法,实现了由"风车"形子单元构成的自重构机器人构形在平面内的运动;同时,借助于"风车"子单元自身具有的移动、转变模块方位、携带模块能力,机器人实现了平面内由24模块组成的"长方形"初始构形到目标构形为"H"构形的自重构.通过运动和重构仿真实验,验证了分层规划算法的有效性及利用"风车"子单元进行自重构的可行性.Self-reeonfigurable robots are different from other kinds of robots. The important difference is that these robots are self-reconfigurable based on their parts being intrinsically mobile. In order to give self-reconfigurable robots this ability, the authors conducted research using a structural features analysis of a DL-Cube module unit. On this basis a windmill-like meta-module （WLMM） was constructed. A design was made using the hierarchical planning method, on the basis of the WLMM, providing motion to the parts of the self-reconfigurable robot by a configuration that consists of WLMMs in the horizontal plane. At the same time, the WLMMs mobility allows changes to the azimuth of modules and the carrying of other modules. Thus the reconfiguration proceeds from an initial rectangular configuration to one that consists of 24 modules in an ＂H＂ configuration. Simulation experiments were given to prove the effectiveness of the hierarchical planning method and the feasibility of creating reeonfigurability using WLMMs.

关 键 词：自重构机器人 运动规划 重构规划 分层规划 子单元 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]