| 一种新型链式自重构机器人模块的设计 |
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| 引用本文： | 徐超,王建中,姚俊武.一种新型链式自重构机器人模块的设计[J].制造业自动化,2007,29(2):63-68. |
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| 作者姓名： | 徐超 王建中 姚俊武 |
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| 作者单位： | 1. 北京理工大学爆炸科学与技术国家重点实验室,北京,100081;黄石理工学院,湖北,黄石,435003
2. 北京理工大学爆炸科学与技术国家重点实验室,北京,100081 |
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| 摘 要： | 提出了一种新型链式自重构机器人模块的设计方法。该模块主要由移动机构、模块间的连接器、关节驱动机构、电力和驱动系统、通讯和控制系统以及感知系统组成,模块通过自重构后组成链式机器人,并能完成移动和越障的功能。对模块的设计主要采用了履带行走、形状记忆合金、谐波齿轮、传感器、集成控制芯片等技术,优化了模块的结构,提高了模块的性能。
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| 关 键 词： | 自重构机器人 模块 设计 |
| 文章编号： | 1009-0134(2007)02-0063-05 |
| 修稿时间： | 2006-08-20 |
Design of a novel chain-type self-reconfigurable modular robot module |
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| XU Chao,WANG Jian-zhong,YAO Jun-wu.Design of a novel chain-type self-reconfigurable modular robot module[J].Manufacturing Automation,2007,29(2):63-68. |
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| Authors: | XU Chao WANG Jian-zhong YAO Jun-wu |
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| Affiliation: | 1. State Key Laboratory of Explosion Science and Technology,College of Mechatronics, Beijing Institute of Technology Beijing 100081, China; 2. Huangshi Institute of Technology, Hubei Huangshi 435003, China |
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| Abstract: | This paper introduces the design method of a novel chain-type self-reconfigurable modular robot module. Locomotion, linker, joint, power, sensor, communication and control system are the component parts of the module. The novel chain-type self-reconfigurable modular robot can move and creep over obstacle. Many methods are used in the module as tack, SMA, harmonic gear, sensor, controlling chip, etc. The module's structure is optimized and the capability is enhanced by methods. |
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| Keywords: | self-configurable robots module design |
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