期刊文献+

新型自重构机器人钩爪式连接机构 被引量:2

Novel hook-type connecting mechanism for self-reconfigurable robot
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摘要 分析了自重构机器人重构和运动过程中连接机构的功能和作用,设计了一种新型钩爪式连接机构。该机构在机器人运动过程中为相邻模块提供可靠的连接,在重构过程中可迅速完成相邻模块的连接/断开。连接机构由微型直流电机、主动钩爪连杆结构和被动连接基板组成,具有模块连接对中功能,连接后机构自锁,无需电机力矩保持,节省能量。分析了该连接机构的工作原理、对接条件和力学特性,并进行了实验研究。结果证明:该连接机构具有较好的性能,并且在一定的几何误差下仍能完成连接。 The function and effect of the connecting mechanics in robot reconfiguration and locomotion were analyzed. Then a novel hook-type mechanics was designed for modular robot. The mechanism can provide dependable conjunction for adjacent modules in robot motion,and quick connection/ disconnection for adjacent modules in reconfiguration. The connecting mechanics was composed of micro DC-motor,active hook-type rod mechanism and passive connecting board,which possesses the function of alignment and selflocking,no motor torque requirement after docking and energy-saving. The connecting principle,condition and mechanics characteristics of the mechanism were studied. Experiments were carried out and results show that the designed mechanism is efficient and it can perform connection even with certain geometrical error.
出处 《吉林大学学报(工学版)》 EI CAS CSCD 北大核心 2010年第4期1086-1090,共5页 Journal of Jilin University:Engineering and Technology Edition
基金 '863'国家高技术研究发展计划项目(2006AA04Z220) 国家自然科学基金项目(60705027) 黑龙江省博士后研究人员落户黑龙江科研启动基金项目(LRB-KY02029) 长江学者和创新团队发展计划项目(IRT0423)
关键词 自动控制技术 自重构机器人 连接机构 钩爪 自锁 automatic control technology self-reconfigure robot connecting mechanism hook self-lock
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参考文献7

  • 1Murata S, Yoshida E, Kamimura A, et al. MTRAN: self reconfigurable modular robotic system [J]. IEEE/ASME Transactions on Mechatronics, 2002,7(4) : 431-441.
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二级参考文献5

  • 1费燕琼,董庆雷,赵锡芳.自重构模块化机器人的结构[J].上海交通大学学报,2005,39(6):877-879. 被引量:15
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  • 5Vassilvitskii 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:IEEE,2002:117-122.

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