多链可重构模块化机器人的构型转换  

Configuration Transformation of Multi-Chain Reconfigurable Modular Space Robots

作　　者：郭茜 刘金国[2] 冯靖凯 GUO Qian;LIU Jinguo;FENG Jingkai(Shenyang University of Chemical Technology,Shenyang 110142,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]沈阳化工大学,沈阳110142 [2]中国科学院沈阳自动化研究所,沈阳110016

出　　处：《航空制造技术》2023年第12期94-102,共9页Aeronautical Manufacturing Technology

基　　金：国家重点研发计划(2018YFB1304600);中国科学院交叉创新团队(JCTD–2018–11);机器人学国家重点实验室项目(Y91Z0303)。

摘　　要：可变形指尖陀螺是一种流行的玩具,其多链、可变形的优点为空间机器人提供了一种方案。以此玩具为启发,结合链型机器人灵活多变的特点,引入了多链可重构模块化机器人。以构型分析及构型转换策略为重点对多链可重构模块化机器人的拓扑构型展开研究,使其改变拓扑构型来适应不同任务。首先,结合整数拆分及排列组合,建立了适用于正六边形基座的模块化机器人基本非同构构型库,提出了一种非同构构型枚举算法,该算法表明非同构构型数随模块数的增加呈指数型增长;其次,以构型转换为核心,定义了基于结构特征的等价关系库,设计了一种构型匹配的重构策略来完成构型间的最优匹配与转换;最后,通过演示与仿真,验证了重构策略的有效性。Deformable fidget spinner is a popular toy,and its multi-chain and deformable advantages provide a solution for space robots.Inspired by this toy,this paper introduces a multi-chain reconfigurable modular robot by combining the flexible and versatile characteristics of chain robots.Topological configurations of multi-chain reconfigurable modular robots are investigated with a focus on configuration analysis and configuration transformation strategies,enabling them to change their topological configurations to suit different tasks.Firstly,combined with integer splitting and permutations,a library of basic non-isomorphic configurations for modular robots with positive hexagonal bases is established,and a non-isomorphic configuration enumeration algorithm is proposed,which shows that the number of non-isomorphic configurations grows exponentially with the number of modules.Secondly,a configuration matching reconfiguration strategy is designed to optimally match and convert between configurations by defining a library of equivalence relations based on structural features,with configuration conversion as the core.Finally,the effectiveness of the reconfiguration strategy is verified through demonstration and simulation.

关 键 词：可重构 模块化机器人 链型 构型枚举 构型转换 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]