基于被动万向连接的可重构微型移动机器人设计与控制  

Design and Control of Reconflgurable Mobile Microrobot with Passive Universal Connector

作　　者：张大伟[1] 李振波[1] 陈佳品[1] 

机构地区：[1]上海交通大学微纳科学技术研究院薄膜与微细技术教育部重点实验室,上海200240

出　　处：《机器人》2011年第6期719-725,共7页Robot

基　　金：国家863计划资助项目(2007AA04Z340);国家自然科学基金资助项目(61175100)

摘　　要：介绍了一种电磁微马达驱动的可重构微型移动机器人.设计了一种灵活的被动式万向连接器.多个基本的微机器人模块可手工连接在一起形成可自动脱离的被动式拖车,通过动力和无线通信接力方法来扩大它们整体的探测范围.以降低被动式拖车的轨迹跟踪误差为目标,通过运动学分析揭示了其轨迹跟踪误差与万向连接器的前后连接杆长度之间的关系,并给出了相应的运动学方程以及控制方法.实验结果证明了上述方法的可行性.A reconfigurable mobile microrobot actuated by electromagnetic micromotors is presented.A flexible passive universal connector is designed.Multiple basic microrobots can be connected with each other manually to form a passive trailer with automatic disconnecting function,and their whole surveillance range can be enlarged by adopting the method of power and wireless communication relays.To reduce the tracking error of the passive trailer,relationship between the errors and the lengths of the front and back link rods of the passive connector is revealed by kinematics analysis,and the related kinematic equation and control method are derived.The experimental results demonstrate the feasibility of the concepts.

关 键 词：可重构 微型移动机器人 电磁微马达 运动学 被动拖车 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]