一种新型自重构模块机器人的设计和运动策略

Design and Motion Planning Method of a Novel Modular Self-Reconfigurable Robot

设计了一种运动类型为网格型、运动空间为三维、被称为M-Cubes的新型自重构模块机器人,介绍了单个模块的硬件设计。M-Cubes模块由一个中心体和6个可独立旋转的连接面组成,中心体内部的驱动电机通过减速器、锥形齿轮、带轮、离合器来驱动6个连接面的转动及每个连接面上销的伸缩。在对模块进行恰当描述的基础上,给出了一种利用驱动函数的分布式控制方法。最后,利用Java 3D对变形运动进行了仿真,验证了该变形方法的可行性和有效性。

A novel,three dimensional, lattice, called M-Cubes, selt-reconhgurable modular robot was proposed, and then its key hardware components details were analyzed. Each module composes of a center body and six connection planes which can independently rotate. Rotational motion of six connection planes and translation motion of pins are generated by a motor with a reducer by using bevel gears, belts and clutch. Furthermore, we described its distributed motion planning method by driving function based on the proper description of module. Finally, a simulation experiment, utilizing the Java 3D technology, proves the new method for controlling modular robot is robust and useful.