模块化变形机器人非同构构形表达与计数

REPRESENTING AND ENUMERATING THE NON-ISOMORPHIC CONFIGURATIONS OF THE RECONFIGURATION MODULAR ROBOT

提出一种新型链式可重构模块机器人平台,该机器人平台具有手动可重构和自动变形的特点,介绍一种三模块变形机器人样机。组成机器人的单个模块可以简化为由模块本体、连接臂和偏置关节组成。模块的数量可以根据实际工作的需要进行选择,模块间的连接具有规则连接和非规则连接两种方式;同时,由连接模块的偏置关节的运动,模块间的相对位置可以改变。由于模块连接方式的不同和模块间相对位置的变化,变形机器人具有多种非同构构形;为此,根据模块的物理结构和邻接关系提出了用构形矩阵来表达机器人结构的拓扑信息,并在仿真环境下进行等效描述;提出基于组合计数原理的递归算法,用于多模块变形机器人的非同构构形的计数,并根据构形矩阵的拓扑信息对构形进行评价。最后根据仿真结果给出了一种三模块变形机器人样机对称构形的设计示例,验证了算法的可行性。

A novel link-type reconfigurable robot which can shift shape is proposed and a three-module robot platform is introduced. A single module mainly includes module body, the link arm and the offset joints. The number of the module can be decided by＇ actual need. The link type has two kinds of linkage, which is regular linkage and irregular linkage. The relativeposition of the adjacent modules can be changed through rotation of the offset joints. Numerous non-isomorphic configurations of the robot come from restructuring and shape shifting. The configuration matrices are proposed to represent the topology configurations of the reconfigurable module robot. According to combination principle, recursive algorithm is pro posed to enumerate and evaluate the non-isomorphic configurations and non-isomorphic symmetry configurations. Threemodule reconfigurable shape-shifting robot＇s symmetry con-figurations are designed to testify the algorithm＇s validity.