M-Lattice模块机器人的运动学分析及构型优化  

The Kinematic Analysis and Structure Optimization of M-Lattice Modular Robot

作　　者：杨振 付庄[1] 管恩广 徐建南 田仕禾 郑辉[1] YANG Zhen(State Key FUZhuang, GUAN Enguang, XUJiannan, TIAN Shihe, ZHENG Hui Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai 200240, Chin)

机构地区：[1]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《上海交通大学学报》2017年第10期1153-1159,共7页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金项目(61473192;61075086);国家重点基础研究发展计划项目(2014CB046302);国家自然科学基金委员会-广东省人民政府自然科学联合基金(U1401240)资助

摘　　要：针对模块机器人在运动过程中遇到的运动干涉问题,提出了一种应用于M-Lattice模块机器人的构型优化设计.通过引入平动关节,实现模块机器人机械臂的收缩和伸展运动,从而避免运动干涉.通过运动学分析,在避免运动干涉的前提下尽可能减少平动关节的行程,从而顺利完成自重构过程并确保模块机器人自身的结构强度及稳定性.通过对不同运动情况下的运动空间的仿真和原型机实验,验证了优化构型的可行性和运动能力.结果表明,引入的平动关节能够很好地避免模块间的运动干涉且各机械关节的设计切实可行,为后续大规模模块机器人系统的研究建立了基础.To solve the movement interference happening during the motions of modular robots, an optimized structure design is proposed and applied to the M-Lattice modular robots. By introducing a translational joint, the mechanical arms of modular robots are able to shrink and stretch to avoid the movement interference. Through the kinematic analysis, the movement interference can be avoided and also the stroke of translational joint can be minimized, then the modular robots can successfully realize the self- reconfiguration process and ensure the structural strength as well as the stability of the robots. The feasibility and motor ability, of optimized structure are verified through the simulations of motion spaces under different situations and the experiment of prototype robots. The results show that the introduced translational joint can well avoid the movement interference happening among the adjacent modules, that the design of each raechanical joint is operable, and that it establishes the foundation for the further researches about large scale modular robotics system.

关 键 词：晶格式 模块机器人 运动干涉 运动学分析 构型优化 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]