新型模块化可重构机器人系统

研制了一种新型模块化可重构机器人系统,机器人由许多结构和功能完全相同的模块相互联接组成,通过改变各模块之间的联接状态和相互位置关系,不需任何外界辅助,自动完成重构过程和整体协调运动:设计了模块的分离联接机构和单自由度立方体结构,模块结构兼具阵列式和串联式特点,可方便的实现重构运动和整体协调运动:上位机软件系统可通过交互方式设置各机器人模块的方位,可手工编写或自动产生可重构机器人各模块的运动序列,可对机器人可重构过程和整体构型的协调运动进行规划和仿真,并通过计算机串口对机器人进行实时控制。试验验证了机器人模块的分离／联接和模块协作基本功能和蠕虫构型、四足构型、履带构型三种构型的整体协调运动功能。试验表明:模块结构设计简单合理,控制容易,可以完成重构操作功能和整体协调运动功能。

NOVEL MODULAR SELF-RECONFIGURABLE ROBOT SYSTEM

A novel modular self-reconfigurable robot composed of many homogeneous modules in structure and function is developed. It can complete self-reconfigurable process and harmonic locomotion by connection and detachment of modules and relative location change of modules without any assistant. Orientation and location of modules can be set by interaction with software in master computer. Detaching/connecting structure of module is designed. For its cubic shape and single degree of freedom, module has not only lattice but also string characteristics. It can easily self reconfigure and locomotion as an integer. Self-reconfiguration and harmonic locomotion in integer of robot is carried out according to modular locomotion series, which is gotten by hand-coding or automatic produce by master computer. The master computer also control motion of robot real-time. Basic modular metamorphic functions such as detachment/connection and harmonic locomotion functions in integer as snake, four-leg structure and pedrail shape of robot are verified by several experiments in self-reconfigurable robot. Results show that robot can move and reconfigure easily and its hardware structure is feasible.