Intelligent Modularized Reconfigurable Mechanisms for Robots:Development and Experiment  

作　　者：Wenfu Xu Liang Han Xin Wang Han Yuan Bin Liang 

机构地区：[1]School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen 518055,China [2]Department of Automation,Tsinghua University,Beijing 100084,China

出　　处：《Chinese Journal of Mechanical Engineering》2020年第5期88-100,共13页中国机械工程学报（英文版）

基　　金：Supported by National Key R&D Program of China(Grant No.2018YFB1304600);Guangdong Provincial Key Research and Development Program of China(Grant No.2019B090915001);Guangdong Provincial Special Support Program of China(Grant No.2017TX04X0071);Basic Research Program of Shenzhen City(Grant No.JCYJ20180507183610564).

摘　　要：With the development of intelligent flexible manufacturing,traditional industrial manipulators with a single configuration are difficult to meet a variety of tasks.Reconfigurable robots have developed rapidly which could change their configurations and end effectors for different tasks.The reconfigurable connecting mechanism(RCM)is a core component of reconfigurable robots.In this paper,two types of intelligent modularized RCMs with light weight,high payload,and large pose(position and attitude)error tolerance are developed.One is driven by shape memory alloy(SMA)and recovery spring.It is locked by steel balls and key.The other is driven by electromagnetic coil and locked by permanent magnet and key.The locking principle,mechanical system and control system of the two RCMs are detailed introduced.Both of them meet the requirements of high precision and high payload in the industrial field.Finally,the developed RCMs are respectively integrated to a practical robot and experimented.The experiment results verified the performance of the two RCMs.

关 键 词：Reconfigurable connecting mechanisms Shape memory alloy ELECTROMAGNETIC Reconfigurable manipulator 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]