可重构机器人单元组合的自同构研究

可重构机器人利用单元组合结构,可以提高环境适应性,改善机器人的使用性能,本文首先提出了一种新的可重构机器人单元结构模型,然后针对可重构机器人拓扑构形中所存在自同构问题,根据单元组合拓扑构形的邻接矩阵,提出了拓扑结点的关联属性及其关联度码的概念,在此基础上,提出了单元组合自同构的列举算法,以及同一拓扑构形特征下所有非同构单元组合状态的计算方法。最后对一拓扑构形实例进行了计算,计算结果表明,本文提出的自同构算法简便有效,使用灵活,可用于可重构机器人的单元组合结构设计。

Study on unit- assembling automorphism of reconfigurable robot

Reconfigurable robot can enhance the environment adaptability and improve the applying performance with unit-assembling structure.This paper proposed a new kind of unit structure model firstly.To resolve the automorphism problem in topological configuration,the conceptions of association attribute and code of topological node were defined according to the adjacency matrix of topological configuration.On this base,the paper proposed the algorithms to enumerate the automorphic unit-assembling structure and to calculate all non-isomorphic unit-assembling states with the same topological character.At last,a topological configuration example was calculated.The results show that the algorithms in this paper are simple,feasible and flexible,and can be applied to design the unit-assembling structure of reconfigurable robot.