自重构机器人辅助自重构规划策略研究

Assisted self-reconfiguring planning strategy of self-reconfigurable robots

针对仅仅依靠初始构形组成模块间的相互协调运动无法完成自重构任务这一情况,结合DL-Cube(Double L Cube)自重构机器人单元模型的结构特性,设计构建了风车形子单元,该子单元具有移动、转变模块方位、携带模块等能力.提出了基于公共拓扑的自重构规划策略,即在进行自重构之前利用分级优化机制搜索出初始构形与目标构形之间的最大公共拓扑,然后以此公共拓扑为目标构形的生长中心,同时,借助于风车形子单元移动、转变模块方位及携带模块的能力,最终实现目标构形的重构.利用仿真实验验证了上述理论的有效性和可行性.

Self-reconfiguring operations sometimes cannot implement only through cooperative movement among the modules in the initial configuration. The windmill-like meta-module （WLMM） was constructed using ructural features of DL-Cube （Double L Cube） module, which is capable of movement and of changing the azimuth of other.module and carry other module. The self-reconfiguring theory based on common topology between initial and goal configuration was proposed. The common topology was obtained using graded optimization mechanism and used as growth center of goal configuration. The self-reconfiguring process was completed by means of WLMM. Simulation experiments were given to prove the effectiveness and the feasibility of the theory above.