一种自重构机器人及其重构策略研究

Research on a Self-reconfigurable Robot and Its Reconfiguring Strategy

设计了新型均一性可移动空间多角度自重构机器人单元模块MSMAbot,由于其丰富的连接面与自由度,可在平面与空间组成多种不同构型。结合该模块的结构特点与图论理论,建立双模块动态连接边信息规则,提出了基于空间连接信息矩阵组的拓扑描述方法;利用有界深度优先搜索算法对构型进行识别,实现了任意构型的空间信息表达。通过对不同构型间的连接信息进行分层并行比对,得到构型最优公共拓扑匹配与最优模块匹配映射,并对非公共拓扑部分模块进行重构,有效减少了重构模块与步数,缩短了重构时间。最后,在ADAMS环境下对两种构型的重构进行了仿真实验,验证了分层并行重构策略的有效性。

A new,homogeneous,mobile spatial multi⁃angle self⁃reconfigurable robot,MSMAbot,was designed,which could constitute many different configurations in plane and space,because of its plentiful connection surfaces and degrees of freedom.Com⁃bined with the structure of the module and the graph theory,the rules of dynamic connection edge information between two modules were established.The topology description method was proposed based on the spatial connection information matrix group.Spatial infor⁃mation representation of any configuration was identified by bounded depth⁃first search algorithm.Through the hierarchical parallel com⁃parison of the connection information,the optimal configuration public topology matching and module mapping were obtained.Only non⁃public topology modules participated in reconstruction,which effectively reduced the number of modules involved in the reconstruction and steps and shortened the reconstruction time required.Finally,a simulation experiments of two configurations was carried out in ADAMS,and the effectiveness of the hierarchical parallel reconstruction strategy was verified.