混合型自重构模块化机器人对接系统的研究  

Research on docking system of hybrid self-reconfigurable modular robots

作　　者：苏士程 费燕琼[1] SU Shi-cheng, FEI Yan-qiong(Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 20024)

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《机械设计》2018年第3期1-6,共6页Journal of Machine Design

摘　　要：设计了一种新型的混合型自重构模块化机器人,其基本模块由外形呈正三棱柱的主、从模块构成:主模块包括3个主驱动电机及螺旋传动装置,从模块包括2个从驱动电机及螺旋传动装置。针对该自重构机器人,设计了一种手爪握合式对接系统:该对接系统主要由钩爪结构、传动盘和连接盘构成,通过钩爪的伸缩、张合及传动盘的转动实现相邻模块间的对接和分离。基于混合型自重构模块化机器人基本模块的几何特征,描述了手爪握合式的对接关系;基于主、从模块间及相邻基本模块间的空间约束关系,分析了相邻基本模块之间对接、分离的过程;该自重构机器人3个基本模块的构型变化、对接仿真,证实该自重构机器人系统能够完成变形及基本模块间的对接任务。A new type of self-reconfigurable modular robot is designed, and the basic module consists of a master module and a slave module. The shapes of the master module and the slave module are both regular triangular prism. There are 3 driving motors and screw driving device in the master module, and 2 driving motors and screw driving device in the slave module.For the self-reconfigurable robot, a new docking system is proposed. The docking system is composed of a claw structure, a driving plate and a connecting plate. The connection and disconnection among normal modules can be realized through the opening and closing of claws, and the driving plate rotation. According to the geometric feature of modules and spatial constraints, the docking relationship is described. Based on spatial constraints of the master module and the slave module, and adjacent modules, the process of connection and disconnection among normal modules is analyzed, and self-reconfiguration among 3 modules is simulated, results prove that this self-reconfigurable robot system can accomplish the deformation and docking task among modules.

关 键 词：模块化机器人 自重构 对接过程 

分 类 号：TH122[机械工程—机械设计及理论]