M^2SBot新型自重构机器人拓扑构型描述及运动学研究  

Topological description and kinematic study on M^2SBot selfreconfigurable-robot

作　　者：葛为民 刘振民 王肖锋 刘军 侯晓敏 李强 

机构地区：[1]天津市先进机电系统设计与智能控制重点实验室,天津300384

出　　处：《机械设计》2015年第3期62-67,共6页Journal of Machine Design

基　　金：天津市自然科学基金资助项目(13JCYBJC17700);教育部留学回国人员科研启动基金资助项目(教外司留[2013]1792号第47批);教育部大学生创新创业训练计划资助项目(201210060028);教育部大学生创新创业训练计划资助项目(201310060001)

摘　　要：介绍了一种新型自重构机器人系统,研究了基于旋量理论的自重构机器人正、逆运动学算法。在分析M2SBot机器人模块拓扑结构的基础上,建立描述自重构机器人拓扑构型的三元组矩阵;利用拓扑结构信息和模块坐标系间的齐次变换,获得各个模块的运动旋量并自动生成自重构机器人正运动学方程。采用遗传算法求运动学的逆解,在传统遗传算法的基础上提出了"移民"策略和局部优化的改进方案。最后,以双支链构型为例,给出了正运动学方程自动生成的具体步骤,并在MATLAB平台上进行逆运动学仿真,验证了改进遗传算法的有效性。A new self-reconfigurable-robot（SRR） system was presented. The kinematics algorithm of SRR was studied based on the screw theory. Firstly, the triples matrix was built to describe SRR topological configuration based on the analysis of topological structure for module of M2 SBot robot. Motion screws of each module were obtained from the triples matrix and the homogeneous transformation, the forward kinematics formula of the SRR could be attained automatically. Then genetic algorithm（GA） was used to get the inverse kinematic solutions, and the improved scheme of immigration and local optimization based on traditional GA were adopted. Finally, the detailed steps to generate kinematics equation automatically were given with the double-branched configuration as examples, and the simulation of inverse kinematics was carried out based on MATLAB. The result shows that the improved GA is valid.

关 键 词：自重构机器人 拓扑描述 旋量理论 遗传算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]