可重构模块化机器人系统的翻越台阶能力研究  

Research on Climbing Step Capacity of RMERS

作　　者：张力平[1,2] 马书根[2,3] 李斌[2] 张政[2] 

机构地区：[1]长安大学,西安710064 [2]中国科学院沈阳自动化研究所,沈阳110016 [3]日本立命馆大学

出　　处：《中国机械工程》2009年第12期1407-1412,共6页China Mechanical Engineering

基　　金：国家863高技术研究发展计划资助项目(2006AA04Z254)

摘　　要：从分析系统的工作原理和子机器人运行机理入手,对可重构模块化星球探测机器人系统的翻越台阶能力进行了研究。对于单体子机器人,提出了通过加反向速度和规划手臂姿态的方法,使其能够顺利翻越台阶型障碍物,增强了单体子机器人的翻越台阶能力。由几个子机器人组成的新系统极大地扩展了单体子机器人的环境适应能力,分析了有利于子机器人组合翻越台阶型障碍物的组合形式,提出了首尾相连成环形连接的构型是翻越台阶的最佳组合,并提出了根据环境条件采取不同策略的决策方法,即对于较低的台阶,采取子机器人组合一起翻越,对于高台阶,采取将一个子机器人送上台阶的策略。最后,通过静力学分析,得出了单体子机器人和子机器人组合所能翻越台阶型障碍物的极限尺寸,实际实验很好地验证了分析结果。Based on the RMERS＇s （self--reconfiguration modular exploration robots system） working principle and its child--robot＇s motive mechanics, this paper researched the RMERS＇ climbing step capacity in detail. For a child- robot, the method of exerting reverse velocity and planning its arm＇s pose were adopted to make it climb up the step smoothly,thus the child--robot＇s overstepping ability was strengthened. New robots system composed of some child--robots greatly expands the single child--robot＇s circumstances adaptability. All configurations of the child--robot were analyzed, it is concluded that the loop connection is the best form in climbing step, and that decision--making method according to circumstances was put forward. When the step obstacle is little, the new system will overstep altogether,on the contrary, the strategy for sending a single child --robot pass to carry out the exploration role is adopted. At the same time, according to the static analysis, this paper analyzed the biggest step for the single child--robot and their connected system respectively. The corresponding experiments validate the analyzed results.

关 键 词：可重构 子机器人组合 运动机理 翻越台阶 

分 类 号：TP224[自动化与计算机技术—检测技术与自动化装置]