Design and implementation of a modular self-reconfigurable robot  

作　　者：赵杰 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology

出　　处：《High Technology Letters》2009年第3期227-232,共6页高技术通讯（英文版）

基　　金：Supported by the National High Technology Research and Development Programme of China（2006AA04Z220）； the National Natural Science Foundation of China（60705027）；Partially Supported by Progranl for Changjiang SchoLars and Innovative Research Team in University（PCSIRT）（IRT0423）.

摘　　要：A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.A novel modular self-reconfigurable robot called UBot is presented. This robot consists of several standard modules. The module is cubic structure based on double rotational DOF, and has four connect- ing surfaces that can connect to adjacent modules. A hook-type mechanism is designed, which can quick- ly and reliably connect to or disconnect from adjacent module. This mechanism is self-locking after con- nected, and energy-saving. To achieve small overall size and mass, compact mechanical structures and electrical systems are adopted in modular design. The modules have embedded power supply and adopt wireless communication, which can avoid cable-winding and improve flexibility of locomotion and self-re- configuration. A group of UBot modules can adapt their configuration and function to the changing envi- ronment without external help by changing their connections and positions. The basic motion and self-re- configuration are proposed, and the experiments of worm-like locomotion are implemented.

关 键 词：self-reconfigurable robot MODULAR twin-rotation connecting mechanism 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]