空间探测自组装群体模块化机器人

A Swarm Self-assembly Modular Robot for Space Exploration

针对地外星球表面地形多变,探测机器人处于复杂的非结构化环境中,提出了一种结合自重构和群体机器人特点的自组装群体模块化机器人(Sambot)。每一个模块都能自主移动,同时通过对接机构可与多个其他模块连接在一起,形成具有更强运动能力的集合体机器人。介绍了Sambot的总体设计(包括机械结构和控制系统),分析了Sambot通过组装构建的典型构型——线性构型和多足构型,展示了机器人的仿真试验和硬件试验。Sambot机器人平台综合了多种类型机器人的优点,增强了在空间探测过程中的适应性。

Spatial robots is one of the researches for space exploration in future.For adapting to rugged terrain,this paper presents a novel self-assembly modular robot（Sambot） that has characteristics on self-reconfigurability and swarm.Each Sambot can move autonomously and connect with the others.Multiple Sambot can be self-assembled to form a robotic structure of higher locomotion capacity.Mechanical design and control system of Sambot are described.Several typical configurations consisting of multiple Sambot are designed.In the end,simulation and experiments of self-assembly on Sambot platform have been implemented to verify feasibility.By combining the advantages of multiple types of robots,Sambot has higher adaptability to space exploration.