一种新型模块化自重构机器人结构设计与仿真研究  

Structure Design and Simulation Analysis of an Innovative Modular Self-Reconfigurable Robot–360bot

作　　者：曹燕军[1] 葛为民[1] 张华瑾[1] 

机构地区：[1]天津理工大学,天津300384

出　　处：《机器人》2013年第5期568-575,606,共9页Robot

基　　金：教育部大学生创新性实验计划资助项目(005001023);天津市自然科学基金资助项目(13JCYBJC17700)

摘　　要：设计了一种新型模块化自重构机器人单元模块——360bot,每个模块具有一个连续旋转的自由度.该机器人模块除具有模块化机器人的普遍特征外,凭借其特殊而简易的结构,使得单元模块具有了独立可靠的运动功能,对运动环境的限制要求较低,同时具有较丰富的连接:4个连接面,5种连接选择,使得单元模块在模块化系统中可以具有各个方向的旋转自由度,进而增加了模块组合系统的功能及种类.详细介绍了360bot的结构设计、运动学、动力学建模及仿真等内容.最后对双模块的构型研究进行了总结分析.An innovative modular self-reconfigurable robot is presented, namely 360bot, which has a continuous rotational degree of freedom. In addition to the common features of conventional modular robots, each module can move independently and reliably due to its special and simple structure, thereafter it imposes less restriction on the surrounding environment. The mechanism of each module is designed with multiple connections, including four connected faces and five connection modes, which enables the modular unit possessing multi-directional rotational degrees of freedom, and increases the functions and types of the modular combination system. In this paper, the structure design, kinematic and dynamic modeling, and simulation of 360bot are illustrated in detail. The configuration research of double modules is summarized and analyzed at last.

关 键 词：自重构模块化机器人 结构设计 动力学建模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]