抓持式对接机构的设计及分析

针对多机器人崎岖地形刚性对接问题，提出了“相互独立! 不完全约束! 完全约束”的顺次对接方 式，并设计了一种抓持式对接机构．该机构能够实现俯仰、偏摆两个自由度方向的姿态调整，并利用凸轮槽形控制 机械手的张合，具备抓持物体、多机器人刚性对接、分工协作等多种作业功能．对该机构进行了运动学分析，给出 了其运动学正解、逆解和工作空间模型．在此基础上研制JL-2 型自重构模块化移动机器人样机，并对抓持式对接机 构性能进行了实验验证．实验证明该机构具有较强的纠偏能力和较宽的抓持范围，可以完成多个机器人之间的相互 对接、协作等多种任务．

Design and Analysis of a Claw-shaped Docking Mechanism

A new "separated → partly constrained →fully constrained" progressive docking method and a claw-shaped docking mechanism are presented to fulfill rigid docking operation between robots in rugged terrain.This mechanism can achieve attitude adjustment in pitch and yaw directions, and control flare angle between two grippers by changing cam slot form.This claw-shaped docking mechanism can fulfill multiple tasks such as object-grasping, rigid docking and mutual cooperation among multiple robots.Kinematics of this mechanism is analyzed.The workspace, and forward and inverse kinematics of this mechanism are deduced.JL-2 modular mobile robot system based on this mechanism is developed, and performance of the proposed claw-shaped docking mechanism is verified by experiments.The results prove that this mechanism has strong offset rectifying capacity and large grasping range to accomplish multiple tasks such as docking and cooperation in multi-robot system.