CAJ | 학술논문

在教育和科研领域中，为使机器人兼有较好的重构能力与操作性能，研制了一种模块化可重构机器人系统MRRES．提出了一种机器人模块划分及重构的方法，构建出机器人模块库，研制出集成传动、控制及传感于一体的系列化关节模块．基于Open GL和VC＋＋开发了具有建模、仿真和运动控制功能的应用软件MRR-SIM．给出了一个基于任务和模块库的机器人设计实例，进行了实验测试．实验结果表明，MRRES系统模块划分和设计合理，机器人在保证重构能力的同时具有较好的操作性能，可应用于教育和科研等领域．
재교육화과연영역중，위사궤기인겸유교호적중구능력여조작성능，연제료일충모괴화가중구궤기인계통MRRES．제출료일충궤기인모괴화분급중구적방법，구건출궤기인모괴고，연제출집성전동、공제급전감우일체적계렬화관절모괴．기우Open GL화VC＋＋개발료구유건모、방진화운동공제공능적응용연건MRR-SIM．급출료일개기우임무화모괴고적궤기인설계실례，진행료실험측시．실험결과표명，MRRES계통모괴화분화설계합리，궤기인재보증중구능력적동시구유교호적조작성능，가응용우교육화과연등영역．
To obtain both high reconfiguration ability and manipulating performance for applications in education and research areas, a modular reconfigurable robot experimental system ( MRRES) was developed. First, a module division and reconfiguration method was proposed, next a module library was established, and then a series of joint modules with integrated transmission, control, and sensing systems were developed. Based on Open GL and VC++, the software MRR-SIM incorporating the functions of modeling, simulation, and motion control was developed. A task-and-module-library based illustrative example was presented, and finally a robot was tested. The results of the experiments show that the proposed division method and the design of the MRRES are appropriate, the high recon-figuration ability and high manipulating performance were achieved, and the system was applicable to the applica-tions in education and research settings.