自重构移动微机器人设计与自动对接  

Design of Self-reconfigurable Mobile Microrobots and Autonomous Docking

作　　者：杨帆[1] 张大伟[1] 李振波[1] 陈佳品[1] 崔莉莉[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：《自动化与仪表》2012年第1期1-5,共5页Automation & Instrumentation

基　　金：国家863计划资助项目(2007AA04Z340)

摘　　要：设计了一种模块化的自重构移动微机器人系统。系统中的每个微机器人模块既可作为动力单元,拖动其它模块进行更远距离的探测,也可自动脱离成为无线通信节点,拓展整个系统的通信距离。通过这2种方式扩展了单个微型移动机器人的探测范围。研制了由1个红外接收器和4个红外发射器组成的导引系统,并基于其设计了一种新型的自动对接方法。最后进行了微机器人之间的对接实验,验证了该方法具有很高的效率和可靠性。A modular self-reconfigurable mobile microrobot system has been designed which has both assembly and disassembly modes of execution in order to enlarge the scope of individual microrobots＇ detection activity.In the assembly mode every module can be the actuated unit to pull others for further detection area,while in the disassembly mode every module can also autonomously detach to be the wireless communication node for longer distance.On this basis,we have presented an innovative autonomous docking method which uses a navigation system consisting of one infrared sensor and four infrared transmitters on each module microrobot.At last,we have carried out docking experiments between two microrobots.The results prove high efficiency and reliability of our docking method.

关 键 词：微型移动机器人 自重构 自动对接 红外导引 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]