可变形机器人协同变形方法  

Cooperative Reconfiguration for a Reconfigurable Mobile Robot

作　　者：刘同林[1,2] 吴成东[1,3] 李斌[1] 刘金国[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院研究生院,北京100049 [3]东北大学信息科学与工程学院,沈阳110004

出　　处：《机械工程学报》2010年第17期1-7,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(60705029);国家高技术研究发展计划(863计划;2007AA041502);辽宁省博士启动基金;中科院沈阳自动化研究所机器人学国家重点实验开放课题(RLO200801)资助项目

摘　　要：可变形机器人AMOEBA-I的主要特点是具有多种构形方式,但由于受地面条件等影响使得某些构形变换难以实现。为了减小变形阻力,增强机器人对环境的适应性,提出可变形机器人的协同变形方法。建立相应数学模型,分析机器人系统各部分在协同变形过程中的运动和力学特性,实现将变形阻力的一部分转化为变形的动力,完成5种特殊构形之间的相互变换。研究基于摄动分析方法的模型线性化方法,以减小计算复杂度。最后,给出可变形机器人协同变形性能评价指标,并通过仿真和试验验证协同变形方法的有效性,满足机器人变形需要。A main characteristic of the reconfigurable mobile robot AMOEBA-I is that it has diverse configurations,but some reconfigurations are difficult to realize under the influence of ground conditions. A cooperative reconfiguration method is proposed to reduce reconfiguration resistance and enhance the adaptability of the robot to the environment. The mathematical model is established correspondingly. The kinematics and mechanical properties of each section of the robot are analyzed. A part of resistance is transformed into active force of reconfiguration,and transforms are actualized among five specific configurations. Further,the linearization of model based on a perturbation analysis method is used to reduce the computational complexity. Finally,an evaluation criterion is proposed for AMOEBA-I＇s cooperative reconfiguration performance. The validity of the cooperative reconfiguration method is proved by simulations and experiments.

关 键 词：可重构 模块 机器人 可变形 摄动分析 协同 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]