网格型自重构模块化机器人的对接过程  

Docking Process of Lattice Self-reconfigurable Modular Robots

作　　者：费燕琼[1,2] 王永[1] 宋立博[1] 王洪光[2] 

机构地区：[1]上海交通大学机器人研究所,上海200240 [2]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

出　　处：《机械工程学报》2011年第7期31-37,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50775145;51075272);机器人学国家重点实验室开放课题(RL0200906)资助项目

摘　　要：研究一种网格型自重构模块化机器人,基本模块由1个中心体和6个旋转面(连接面)组成。针对该网格型自重构机器人的性能和模块连接可靠性的不足,设计一个新的模块对接系统。该对接系统主要由可伸缩轴和可变孔组成,通过可伸缩轴和可变孔的对中、配合、锁紧和松开可仿真实现正常模块与正常模块、正常模块与故障模块的连接和分离,实现网格型自重构机器人的自变形及自修复动作,从而保持机器人整体构型的完整性。基于模块的几何特征,描述相邻模块的对接关系;基于'棋盘约束规则',分析了模块间的对接过程:模块旋转到位阶段和模块微调对中阶段;6模块自重构机器人的对接仿真和3模块试验证实该自重构机器人系统能够完成模块间的对接任务。The lattice self-reconfigurable modular robot system is presented,which consists of one central cube and six rotary arms.A novel docking system is proposed.It mainly consists of extension pegs and expansible holes.In order to finish the self-morphing and self-repairing action,each extension peg and each expansible hole are designed to perform the connection/disconnection among normal modules and normal module,normal modules and trouble modules.So they can finish the self-reconfiguration and keep the whole configuration of the robot.According to the geometric feature of each module,docking relationship and docking process among modules are described.There are two stages：The stage of module rotating and the stage of module aligning.Finally,a simulation with 6 modules of the lattice self-reconfigurable robot and an experiment with 3 modules are shown to prove that the analyses are effective.

关 键 词：模块化机器人 自重构 对接过程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]