CAJ | 학술논문

自重构机器人根据任务环境的不同可实现自主变换构型。研究了直线蛇形变换为环形的重构过程，定义了单元模块的连接面与坐标变换矩阵，基于 D-H 方法推导并归纳了多模块由直线蛇形变换为环形的普适公式。利用多体动力学软件 RecurDyn 与 MATLAB 对模块构型变换中末端连接面的运动轨迹、速度以及加速度进行了仿真，验证了普适公式的有效性和正确性，准确地判断了末端连接面运动轨迹的变化与重构工作空间，估计了系统的稳定性，提高了对控制算法的认知程度。最后分析了环形构型的两种滚动步态，利用仿真验证了环形构型的越障能力。
자중구궤기인근거임무배경적불동가실현자주변환구형。연구료직선사형변환위배형적중구과정，정의료단원모괴적련접면여좌표변환구진，기우 D-H 방법추도병귀납료다모괴유직선사형변환위배형적보괄공식。이용다체동역학연건 RecurDyn 여 MATLAB 대모괴구형변환중말단련접면적운동궤적、속도이급가속도진행료방진，험증료보괄공식적유효성화정학성，준학지판단료말단련접면운동궤적적변화여중구공작공간，고계료계통적은정성，제고료대공제산법적인지정도。최후분석료배형구형적량충곤동보태，이용방진험증료배형구형적월장능력。
Self-reconfigurable robot could change its configuration depending on the task environ-ments.This paper discussed the transforming process of snake-like configuration changing into circu-lar configuration,defined the junction surface of modular units and coordinate transform matrix,and got the universal formula based on the D-H method.Then The motion trail,velocity and acceleration during the transformation were simulated by RecurDyn and MATLAB.With the result,the correct-ness and the validity of the universal formula were proved;trajectory modification and reconfiguration space were judged;the stability of the robotic system was estimated;the awareness level of control algorithm was improved.Finally,two kinds of ring rolling gait were analyzed,and through the simu-lation,the ability of obstacle climbing was proved.