自重构机器人锁紧机构设计及自主对接研究  

Locking mechanism design and docking research on self-reconfigurable robot

作　　者：葛为民 张月[2] 王肖锋 刘振民 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 [2]天津理工大学自动化学院,天津300384

出　　处：《机械设计》2015年第4期46-51,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：自主对接是实现机器人自重构的关键技术。基于新型自重构模块化机器人M2SBot的结构,设计了独特的正弦加速度槽凸轮式对接锁紧机构,可实现可靠连接。同时提出一种新的三维空间对接算法,将基于罗德里格矩阵的公共点法与爬山搜索算法相结合,扩大了两个待接面间空间偏移角的搜索范围。该算法利用红外线传感器计算两模块间的相对位姿偏差,通过逐步调整各个偏移量实现对接。最后分析了整个过程的对接策略。仿真结果表明,该锁紧机构和对接算法可以有效地实现模块间的对接。Autonomous docking is a key technology to reconfigure the modular robot.A unique sine-acceleration groove-cam locking mechanism based on a modular self re-configurable robot named M2 SBot was designed to realize reliable connections. A new docking algorithm in 3D space was also proposed which combined the public-points method based on Rodrigo matrix with the climbing searching algorithm in order to expand the search range of the spatial offset angle between two connective sides.The algorithm calculated the relative position offset between two modules by infrared sensors, and each offset could be adjusted gradually as to realize the docking process. The strategy of the docking was finally analyzed. The simulation result shows that the locking mechanism and the algorithm can achieve the docking effectively.

关 键 词：自重构机器人 自主对接 公共点法 位姿调整 RecurDyn仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]