Design of a novel modular self-reconfigurable robot capable of self-turning  

具有自转能力的新型模块化自重构机器人设计（英文）

作　　者：乔贵方[1] 宋光明[1] 张颖[1] 孙慧玉[1] 韦中[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《Journal of Southeast University(English Edition)》2016年第3期293-300,共8页东南大学学报（英文版）

基　　金：The National Natural Science Foundation of China(No.61375076);Research&Innovation Program for Graduate Student in Universities of Jiangsu Province(No.CXLX13-085);the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1350)

摘　　要：To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mechanism. With the proposed self-turning mechanism, the angle adjusting accuracy of the module is increased to 2°, and the relative position adjusting efficiency of the module in the self-assembly process is also improved. The measured maximum moving distance of the proposed module in a gait cycle is 11.0 cm. Aiming at the multiple degree of freedom （MDOF） feature of the proposed module, a motion controller based on the central pattern generator （CPG） is proposed. The control of five joints of the module only requires two CPG oscillators. The CPG-based motion controller has three basic output modes, i. e. the oscillation, the rotation, and the fixed modes. The serpentine and the wheeled movements of the H-shaped robot are simulated, respectively. The results show that the average velocities of the two movements are 15. 2 and 20. 1 m/min, respectively. The proposed CPG-based motion controller is evaluated to be effective.为解决模块化自重构机器人在自组装过程中角度调整精度差的问题,设计了一种新型的同构型混合式模块化自重构机器人Xmobot,其每个单元模块包含4个旋转关节和1个自转机构.通过利用所设计的自转机构,将单元模块的角度调整精度提高至2°,同时有效地提升了单元模块在自组装过程中的相对位置调整效率.实验测得单元模块在单步态周期内的最大运动距离为11.0 cm.针对单元模块的多自由度特点,提出了一种基于中枢模式发生器(CPG)的运动控制器,单元模块的5个关节仅需2个CPG振荡器就能够进行控制.该基于CPG的运动控制器具有3种基本的输出模式:振荡模式、旋转模式和固定模式.分别对H型联体的蛇形和轮式运动进行仿真,结果表明,H型联体2种运动的平均速度分别达到了15.2和20.1m/min,验证了所提出的基于CPG的运动控制器具有良好的控制性能.

关 键 词：central pattern generator modular self-reconfigurable robot structural design motion simulation 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]