| 一种模块化自重构机器人的设计与实现 |
| |
| 引用本文： | 赵杰,赵剑,张玉华,蔡鹤皋.一种模块化自重构机器人的设计与实现[J].机床与液压,2007,35(3):51-53,93. |
| |
| 作者姓名： | 赵杰 赵剑 张玉华 蔡鹤皋 |
| |
| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨,150001 |
| |
| 摘 要： | 介绍了一种新的模块化自重构机器人HitMSRII的设计与实现过程,包括机器人模块的机构设计和控制系统的软硬件设计两个部分.HitMSRII在HitMSRI的基础上加入了接触传感器;引入了无线通讯网络;设计了兼具销孔式可靠性和平面式灵活性的新型的模块分离、连接机构;并将控制方式由原来的集中式改为集中式和分布式相结合的方式,使系统能在不增加传感器的情况下自动采集机器人的整体信息.HitMSRII比HitMSRI的体积更小,质量更轻,驱动和通讯能力也更强.
|
| 关 键 词： | 模块化机器人 自重构 分布式控制 模块化 自重构机器人 软硬件设计 Robot Modular Realization 通讯能力 驱动 质量 体积 整体信息 自动 情况 接触传感器 控制系统 结合 分布式 集中式 控制方式 连接机构 |
| 文章编号： | 1001-3881（2007）3-051-3 |
| 修稿时间： | 2006-03-15 |
Design and Realization of a Modular Self-reconfigurable Robot |
| |
| ZHAO Jie,ZHAO Jian,ZHANG Yuhua,CAI Hegao.Design and Realization of a Modular Self-reconfigurable Robot[J].Machine Tool & Hydraulics,2007,35(3):51-53,93. |
| |
| Authors: | ZHAO Jie ZHAO Jian ZHANG Yuhua CAI Hegao |
| |
| Affiliation: | Robotics Institute, Harbin Institute of Technology, Harbin 150001, China |
| |
| Abstract: | The design and realization of a new modular self-reconfigurable robot were introduced,including the design of modular structure and the design of software and hardware of the control system.The contact sensor and wireless network of communication were added to the HitMSRII on the basis of HitMSRI.A new detachable and connectible mechanism which possesses both of the reliability of the peg and hole mechanism and the agility of the plane mechanism was designed.Changing centralized control method to the centralized combining with distributed control method,HitMSRII can collect the whole information of the robot automatically without accessional sensors.Compared with HitMSRI,HitMSRII is smaller and lighter,and the capability of drive is stronger as well as the capability of communication. |
| |
| Keywords: | Modular robot Self-reconfigurable Distributed control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
