基于状态构形矢量和状态构形矩阵的可重构模块星球机器人构形水

CONFIGURATION OF RECONFIGURABLE MODULAR PLANETARY ROBOTS BASED ON STATE CONFIGURATION VECTOR AND STATE CONFIGURATION MATRIX

可重构模块星球机器人系统由母体和多个子机器人模块组成,单个模块可以独立运动和操作,多个模块可以重构组合成不同构形,模块采用非对称式轮手一体机构,具有姿态方位性和运动方向性,重构目的是组成在某种环境下更好地完成有向性运动的构形。基于此,提出矢量构形概念,将运动趋势方向和方位性融合到构形拓扑结构中。在模块矢量分析模型基础上,提出并构建状态构形矢量(State configuration vector,SCV)和状态构形矩阵(State configuration matrix,SCM),对非对称式单模块和整体构形的状态信息进行描述,同时支持预定义的数学变换操作,可以表达并触发模块的基础动作、构形重构。提出离散模块组合重构成目标构形的优化分析算法,通过实例仿真计算获得优化分析的选择结果。

A reconfigurable modular planetary robot system consists of the parent body and multiple child-robot modules. A single module can independently perform locomotion and manipulation, and multiple ones can mutually combine and reconfigure to different configurations. The module applying the mechanism with asymmetric wheel-manipulator possesses the orientation of pose and the direction of motion. The aim of the robot recontiguration is to generate better configuration with respect to the directional locomotion adapting to environment. Based on the above reasons, vector configuration is presented, which introduces the motion direction and the orientation into the topology of the configuration. Based on the vector model, state configuration vector （SCV） and state configuration matrix （SCM） are presented and constructed for representing the asymmetric module and its whole configuration, supporting the mathematical transformation for triggering the foundational action of the module and reconfiguration of the configuration. The optimization algorithm for analysis of the combination reconfiguration of discrete modules is proposed and evaluated through computer simulation by an example.