自重构机器人的硬件设计及自重构规划研究

Research on hardware design and self-reconfiguration planning of self-reconfigurable robot

设计了一种新型的单转动自由度正立方体均一阵列式三维自重构机器人模块结构,不但可以构成稳定的空间填充结构,而且能够实现多种重构运动形式.介绍了具体的机构原理和模块的构形表达及运动描述方法,提出了一种基于正立方体子单元结构的集中式分层规划方法,每个子单元由 8个模块构成,内置离线规划的模块运动序列数据库,并通过自重构仿真实验,验证了该方法具有搜索空间小,求解复杂度低,规划效率高等特点,在规划串式结构的自重构问题时是可行的.

A novel homogeneous cubic 3-D lattice module structure of self-reconfigurable robot with a single rotation DOF (degree of freedom) is designed. It can form stable space-filling structure and achieve many modes of reconfiguration and locomotion. The detailed mechanism principle and configuration representation with motion description are introduced. A centralized hierarchical reconfiguration planning method based on cubic meta-module is presented. Each meta-module is constructed by eight modules with build-in motion sequences database. Simulation experiment demonstrates that this method can reduce the search space of the planning and has less complexity and higher efficiency. It is feasible for the self-reconfiguration planning of a cluster structure of modules.