一种新型自重构模块机器人的机构设计

Mechanical Design of a Novel Modular Self-reconfigurable Robot

提出了一种同构阵列式自重构机器人模块单元,该单元具有12个自由度,结构简洁、紧凑,控制方便简单,并且详细介绍了每个模块的机械结构。每个模块利用6个面上的销和孔组成自动锁定装置,通过与相邻模块间的交流和通讯,独立自主实现与相邻模块间的连接、分离。由多个相同模块组成的MCubes系统,通过模块之间的相互配合,改变它们之间的连接方式,形成空间任意结构。最后对MCubes机器人最基本的变形运动进行了分析,并且利用java3D进行了仿真。

In this paper a homogeneous and lattice self-reconfigurable robot module was designed, the module has 12 DOF , its structure is compact and simple and is easy to control, and then analyze its key mechanical components details. By communicating with the neighboring modularing robot, each unit employs its automatic lock tools composing of pin and hole on the six surfaces of its base cube which can connect or disconnect to neighboring units. The MCubes system consisting of many identical modules cooperate to change their connection, and then the whole structure transforms into arbitrary structure. Finally,M-Cubes structure basic motion of self-reconfiguration is discussed and simulated by utilizing java 3D technology.