新型自重构机器人钩爪式连接机构

分析了自重构机器人重构和运动过程中连接机构的功能和作用,设计了一种新型钩爪式连接机构。该机构在机器人运动过程中为相邻模块提供可靠的连接,在重构过程中可迅速完成相邻模块的连接/断开。连接机构由微型直流电机、主动钩爪连杆结构和被动连接基板组成,具有模块连接对中功能,连接后机构自锁,无需电机力矩保持,节省能量。分析了该连接机构的工作原理、对接条件和力学特性,并进行了实验研究。结果证明:该连接机构具有较好的性能,并且在一定的几何误差下仍能完成连接。

Novel hook-type connecting mechanism for self-reconfigurable robot

The function and effect of the connecting mechanics in robot reconfiguration and locomotion were analyzed. Then a novel hook-type mechanics was designed for modular robot. The mechanism can provide dependable conjunction for adjacent modules in robot motion,and quick connection/ disconnection for adjacent modules in reconfiguration. The connecting mechanics was composed of micro DC-motor,active hook-type rod mechanism and passive connecting board,which possesses the function of alignment and selflocking,no motor torque requirement after docking and energy-saving. The connecting principle,condition and mechanics characteristics of the mechanism were studied. Experiments were carried out and results show that the designed mechanism is efficient and it can perform connection even with certain geometrical error.