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自重构机械系统中模块对接及变形 被引量：1

The Docking and Distortion of Modules in Self-Reconfigurable Robotic System
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摘要 提出了一种新颖的、网格型的自重构机械系统的基本模块.基于模块的结构特点,分析讨论了相邻两模块的对接过程,描述了两模块对接的空间几何关系,给出了几何及控制不确定性时,完成对接最基本的几何约束条件.根据模块对接后完成工作的情况,利用有限元方法分析了模块的变形,并给出了仿真图形. A novel, lattices-based self-reconfigurable module was presented. According to the feature of each module, the docking process and their geometric relationship between two neighboring modules were discussed and analyzed. When the uncertainty about control and geometry occurs, the basic geometric condition is analyzed to finish the docking action. At last, with the finite element method the distortion was analyzed during modules＇ docking process and the simulation results were shown.
作者 费燕琼 张鑫 徐磊
机构地区 上海交通大学机器人研究所
出处 《上海交通大学学报》 EI CAS CSCD 北大核心 2007年第8期1267-1270,共4页 Journal of Shanghai Jiaotong University
基金 国家自然科学基金资助项目(50305021)
关键词 自重构 机器人系统 模块 对接 变形 self-reconfigurable robotic system module docking distortion
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献6

  • 1Kurokawa H,Murata S,Yoshida E,et al.A 3-D self-reconfigurable structure and experiment[C]// Proceedings of IEEE/RSJ Int Conf on Intelligent Robots and Systems.Canada:IEEE Press,1998:860-865.
  • 2Rubenstein M,Payne K,Will P,et al.Docking among independent and autonomous CONRO self-reconfigurable robots[C]// Proceedings 2004 IEEE International Conference on Robotics and Automation.Taiwan:IEEE Press,2004:2877-2882.
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  • 4Vassilvitskii S,Yim M,Suh J.A complete,local and parallel reconfiguration algorithm for cube style modular robots[C]// Proceedings IEEE International Conference on Robotics and Automation.Leuven,Beigium,May:IEEE Press,2002:117-122.
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二级参考文献7

  • 1Yoshida E.Distributed self—reconfiguration of 3一D homogeneous modular structure[EB／0L].http:／／staff.aist.go.jp／e.yoshida／3dunit／3dunite—e-1.htm.
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共引文献14

同被引文献7

  • 1吴功平,肖晓晖,肖华,戴锦春,鲍务均,胡杰.架空高压输电线路巡线机器人样机研制[J].电力系统自动化,2006,30(13):90-93. 被引量：118
  • 2王建中,刘晶晶.微小型多机器人自重构的红外定位及对接方法[J].北京理工大学学报,2006,26(10):879-882. 被引量：11
  • 3费燕琼,夏振兴,赵锡芳.自重构模块的对接方法及特性分析[J].上海交通大学学报,2007,41(1):116-118. 被引量：2
  • 4余雁生,吴功平,付兴伟.巡线机器人充电装置及巡线机器人[P].中国,CN201220339193.X.2013-01-09.
  • 5Rubenstein M, Payne K, Will P, et al. Docking among independent and autonomous CONRO self-reconfigu- table robots[C]//Proceedings of 2004 IEEE Interna- tional Conference on Robotics and Automation. Tai- wan, IEEE Press,2004..2877-2882.
  • 6Shen W M,Will P. Docking in self-reconfigurable ro- bots[C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Maul, Hawaii, USA, IEEE Press, 2001 : 1049-1054.
  • 7Roth H, Schilling K. Navigation and docking maneu- vers of mobile robots in industrial environments [C]// Proceedings of the 24th Annual Conference of the IEEE. Aachen, Germany, IEEE,1998:2458-2462.

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上海交通大学学报
2007年 第8期

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