摘要
提出了一种新颖的晶格式空间自重构机器人模块,并进行了模块的三维结构设计.详细阐述了该自重构机器人模块基于销槽楔合、雌雄同体的对接机构设计方法,分析了系统的运动精度并给出了相应的误差控制方案.设计了静态及动态的2组实物实验,从不同工作条件验证了该对接机构能够快速、可靠地实现对接过程,对接耗时约为2 s,对接完成后的机械连接强度可超过50 N的轴向拉伸负载,较好地完成了机器人模块的自重构任务.
The lattice self-reconfigurable modular robot has attracted more and more attention for its excellent flexibility in connection and separation movements.A novel self-reconfigurable robot module,called M-Lattice,was presented.A genderless pin-slot-based connection mechanism was introduced.The static and dynamic experiments indicate that the self-reconfiguration connection can be accomplished by the mechanism smoothly and rapidly.The time cost of the connecting movement is approximately 2 seconds and the strength of connection between the two mechanisms is capable of over 50 N axial load.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2010年第8期1026-1030,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(60875058)
关键词
自重构机器人
晶格式
模块化
对接机构
self-reconfigurable robot
lattice
modular
connection mechanism
