链式可重构模块机器人非同构构形仿真研究

Simulation Analysis of the Non-isomorphic Configurations for a Novel Link-type Reconfigurable Modular Robot

可重构模块机器人系统具有多种构形来适应环境和任务的要求,其非同构构形的数量随着模块数量的增加呈指数增长。提出了一种新型链式可重构模块结构,机器人的模块数量可以根据需要选择。利用偏置关节和连接臂,该结构具有手动可重构和自动变形的特点。根据模块的物理结构和邻接关系,提出用构形矩阵来表达机器人的拓扑信息,并在仿真环境下进行描述;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,并根据构形矩阵对对机器人的对称构形进行判断。最后仿真设计了4模块和5模块可重构机器人的对称构形,验证了算法的可行性。

Reconfigurable modular robot has various configurations to adapt to the environment and the task. As the module increases, the non-isomorphic configurations increase exponentially. A novel link-type reconfigurable modular robot has been proposed and its module number can be chosen randomly. The relative position of the adjacent modules can be changed through rotation of the offset joints. The link-type structure is manually reconfigurable and can shape shifting autonomously. Configuration matrices have been proposed to represent the topology configurations of the reconfigurable module robot. The robot＇s configuration can be equivalently displayed in the simulation workspace. According to combination principle, recursive algorithm has been proposed to enumerate and decide the non-isomorphic configurations and non-isomorphic symmetry configurations. Four-module and five-module robots ＂symmetry configurations have been designed and testified the simulation algorithm＇s validity.