自重构模块化机器人模块设计综述  

Module Design of Self-reconfigurable Modular Robot:A Survey

作　　者：戴野[1] 张启昊 高语斐 齐云杉 王建辉 DAI Ye;ZHANG Qi-hao;GAO Yu-fei;QI Yun-shan;WANG Jian-hui(School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China)

机构地区：[1]哈尔滨理工大学机械动力工程学院,哈尔滨150080

出　　处：《哈尔滨理工大学学报》2021年第5期34-43,共10页Journal of Harbin University of Science and Technology

基　　金：国家自然科学基金(52075134);黑龙江省自然科学基金(LH2019E062);黑龙江省普通高校基本科研业务费专项资金(LGYC2018JC040);黑龙江省普通本科高等学校青年创新人才培养计划项目(UNPYSCT-2017077).

摘　　要：自重构模块化机器人是指通过一种或多种模块组装而成,能根据工作环境的变化重构为另一种构型的机器人,具有操控范围广、结构可变、功能简单易扩充等优点,现已成为学术与工业领域的研究热点。为了探讨近年来自重构模块化机器人模块设计的研究进展,对国内外已有代表性成果的模块结构进行整理,从同构与异构、串联式与阵列式两方面对自重构模块化机器人进行分类,并在此基础上分析了研究中存在的主要问题,提出可能的发展方向并对以后的研究作出展望。Self-reconfigurable modular robot is a robot assembled through one or more modules and can be reconstructed into another configuration according to the changes of working environment.It has the advantages of wide control range,variable structure,simple function and easy expansion.Self-reconfigurable modular robot has become a research hotspot in academic and industrial fields.In order to discuss the research progress of modular design of self-reconfigurable modular robots in recent years,the modular structures of representative achievements at home and abroad are sorted out,and the self-reconfigurable modular robots are classified from two aspects:isomorphism and heterogeneity,series and array.On this basis,the main problems existing in the research are analyzed.The possible development direction is put forward and the future research is prospected.

关 键 词：机器人 重构 模块 同构 异构 串联式 阵列式 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]