一种开放式的模块化自重构机器人  

An Open Modular Self-reconfigurable Robot

作　　者：刘策越[1] 刘建功[1] 刘扬[1] 

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《组合机床与自动化加工技术》2018年第2期26-29,33,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家留学基金委项目(201506430032)

摘　　要：针对模块化机器人的控制和形态参数移植过程复杂的问题,提出了一种开放式的模块化自重构机器人EMERGE。首先基于自由度、外形特性和连接面的分类描述分析,确立了模块的基本特征。在此基础上,通过对模块的连接机制、控制系统的分析设计,给出了开放式的实体模块化机器人。然后在仿真环境中基于移动任务对由EMERGE模块所组建的机器人的形态参数和控制参数进行进化。最后将仿真中得到的模块化机器人的构型和控制参数移植到实体机器人上进行可移植性实验。实验测试表明,该机器人模块结构简单、组装容易、硬件开源、简单易用,具有快速构建、测试不同形态的机器人的能力,有效地减少了移植的时间成本和耗材成本。Aiming at the complex transplant process of morphology and control parameters of the modular robot,an open modular self-reconfigurable robot EMERGE is proposed. Firstly,based on the classification description analysis of degree of freedom,shape characteristics and connection surface,the basic characteristics of the module is established. On this basis,through the analysis of the connection mechanism and control system of the module,the open modular robot is proposed. Afterwards,the morphology and control parameters of the robot built by the EMERGE module are evolved in the simulator for a locomotion task. Finally,the configuration and control parameters of the modular robot obtained in the simulation are transplanted to the physical robot for transplantation experiment. Experiments showthat the robot has the advantages of simple structure,easy to assemble,open source hardware design,easy to use,as well as the ability to quickly build and test the different morphologies of robots,and effectively improve the portability from simulation to reality.

关 键 词：模块化机器人 磁式连接 硬件开源 进化设计 

分 类 号：TH165[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]