网格型自重构模块化机器人的对接过程

Docking Process of Lattice Self-reconfigurable Modular Robots

研究一种网格型自重构模块化机器人,基本模块由1个中心体和6个旋转面(连接面)组成。针对该网格型自重构机器人的性能和模块连接可靠性的不足,设计一个新的模块对接系统。该对接系统主要由可伸缩轴和可变孔组成,通过可伸缩轴和可变孔的对中、配合、锁紧和松开可仿真实现正常模块与正常模块、正常模块与故障模块的连接和分离,实现网格型自重构机器人的自变形及自修复动作,从而保持机器人整体构型的完整性。基于模块的几何特征,描述相邻模块的对接关系;基于'棋盘约束规则',分析了模块间的对接过程:模块旋转到位阶段和模块微调对中阶段;6模块自重构机器人的对接仿真和3模块试验证实该自重构机器人系统能够完成模块间的对接任务。

The lattice self-reconfigurable modular robot system is presented,which consists of one central cube and six rotary arms.A novel docking system is proposed.It mainly consists of extension pegs and expansible holes.In order to finish the self-morphing and self-repairing action,each extension peg and each expansible hole are designed to perform the connection/disconnection among normal modules and normal module,normal modules and trouble modules.So they can finish the self-reconfiguration and keep the whole configuration of the robot.According to the geometric feature of each module,docking relationship and docking process among modules are described.There are two stages：The stage of module rotating and the stage of module aligning.Finally,a simulation with 6 modules of the lattice self-reconfigurable robot and an experiment with 3 modules are shown to prove that the analyses are effective.