新型自重构机器人构型表达及空间变形线策略研究  

Research of Configuration Expression and Three-Dimension Morph Line Strategy Based on a Novel Self-reconfigurable Modular Robot

作　　者：赵腾[1,2] 葛为民[1,2] 王肖锋[1,2] 刘军[1,2] 侯晓敏[1,2] 

机构地区：[1]天津理工大学机械工程学院,天津300384 [2]天津理工大学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：《组合机床与自动化加工技术》2015年第4期108-111,122,共5页Modular Machine Tool & Automatic Manufacturing Technique

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

摘　　要：设计了一种新型同构链式自重构模块化机器人M2SBot,它具备灵活的移动性和丰富的装配方式。针对传统构型表达方法不能准确的表达链式模块化机器人的空间构型问题,创新提出了空间装配矩阵SAM表示方法,它可以涵盖模块完整空间构型信息,实现空间构型与表达的一一对应关系,借助链式模块装配深度优先搜索算法,可获得模块各连接面装配信息CAN。针对链式模块化机器人空间自主变形问题,提出了一种新的空间变形线重构策略,该策略采用了分布式深度匹配方法,可以最大限度排除公共拓扑结构,缩小重构规划区域,极大的提高了重构效率。考虑到模块自由度对机器人支链运动的限制,借助工作空间分析,判断重构策略的可行性。最后给出一个十模块自重构机器人的仿真实例,证明空间变形线策略的有效性。A novel,homogenous,chained,self-reconfigurable modular robot,M2 SBot,is designed,which possesses flexible mobility and various types for assembly. According to the traditional methods limitation for the spatial configuration expression of the chained modular robot,an innovative method is proposed that uses Spatial Assembly Matrix（ SAM） to describe the configuration. It can totally express the information of the modular spatial configuration,accomplish the one-to-one relationship between the spatial configuration and expression,and also obtain each modular Connector Assembled Number（ CAN） through the chained modular assemble DFS search algorithm. According to the action of the chained modular robot self-reconfigurable,this paper addresses the three-dimension morph line reconfigurable strategy. It adopts the distributed deeply configuration match method to eliminate the most out of the common topology configuration,whose method can increase efficiency. Considering the modular DOF effect on the branch robots locomotion,it combines branched-chain work space analysis,to judge the feasibility of the strategy. Finally,a simulation with ten modules of the robot is shown to prove the feasibility of the proposed strategy.

关 键 词：自重构机器人 重构策略 空间装配矩阵 空间变形线 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]