晶格畸变自重构机器人的可达工作空间分析  

Reachable Workspace Analysis of the Lattice Distortion Self-reconfigurable Robot

作　　者：印波[1] 梁振宁[1] 胡文[1] 徐威[1] 王石刚[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《上海交通大学学报》2012年第11期1764-1769,共6页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50975171)

摘　　要：提出了一种新的晶格可畸变的自重构机器人系统LDSBot,其4个模块可以组成一个平面并联机构式的晶格.首先将晶格简化成"移动副-旋转副-移动副"的等效串联机构,并进行运动分析;然后,根据旋量理论的指数积公式建立正向运动学模型;最后根据模块结构约束和晶格畸变运动约束,利用蒙特卡罗方法对二维和三维晶格的可达工作空间进行求解.结果表明,该晶格式机器人系统具有良好的空间可达性,为大规模自重构机器人系统的应用奠定了基础.A new lattice distortion self-reconfigurable robot system, called LDSBot, was presented,whose four modules could configure a type of planar parallel mechanism lattice. Firstly, motion analysis was per formed through simplifying the lattice to a ＂P-R-P＂ serial mechanism. Secondly, the forward kinematics model was built based on product of exponentials of screw theory. Finally, the reachable workspaces of two dimensional lattice and three dimensional lattice were solved, using Monte Carlo methods, according to constraints of the modular structure and motion constraints of the lattice distortion. The results show that this lattice robot system has good spatial accessibility, which can provide application basis for large scale self-reconfigurable robot systems.

关 键 词：自重构机器人 晶格畸变 旋量理论 可达工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]