CAJ | 학술논문

设计了一种新型同构链式自重构模块化机器人M2 SBot,它具备灵活的移动性和丰富的装配方式。针对传统构型表达方法不能准确的表达链式模块化机器人的空间构型问题,创新提出了空间装配矩阵SAM表示方法,它可以涵盖模块完整空间构型信息,实现空间构型与表达的一一对应关系,借助链式模块装配深度优先搜索算法,可获得模块各连接面装配信息CAN。针对链式模块化机器人空间自主变形问题,提出了一种新的空间变形线重构策略,该策略采用了分布式深度匹配方法,可以最大限度排除公共拓扑结构,缩小重构规划区域,极大的提高了重构效率。考虑到模块自由度对机器人支链运动的限制,借助工作空间分析,判断重构策略的可行性。最后给出一个十模块自重构机器人的仿真实例,证明空间变形线策略的有效性。
설계료일충신형동구련식자중구모괴화궤기인M2 SBot,타구비령활적이동성화봉부적장배방식。침대전통구형표체방법불능준학적표체련식모괴화궤기인적공간구형문제,창신제출료공간장배구진SAM표시방법,타가이함개모괴완정공간구형신식,실현공간구형여표체적일일대응관계,차조련식모괴장배심도우선수색산법,가획득모괴각련접면장배신식CAN。침대련식모괴화궤기인공간자주변형문제,제출료일충신적공간변형선중구책략,해책략채용료분포식심도필배방법,가이최대한도배제공공탁복결구,축소중구규화구역,겁대적제고료중구효솔。고필도모괴자유도대궤기인지련운동적한제,차조공작공간분석,판단중구책략적가행성。최후급출일개십모괴자중구궤기인적방진실례,증명공간변형선책략적유효성。
A novel, homogenous, chained, self-reconfigurable modular robot, M2 SBot, is designed, which possesses flexible mobility and various types for assembly. According to the traditional methods limitation for the spatial configuration expression of the chained modular robot, an innovative method is proposed that uses Spatial Assembly Matrix ( SAM) to describe the configuration. It can totally express the information of the modular spatial configuration, accomplish the one-to-one relationship between the spatial configuration and expression, and also obtain each modular Connector Assembled Number ( CAN) through the chained modular assemble DFS search algorithm. According to the action of the chained modular robot self-reconfig-urable, this paper addresses the three-dimension morph line reconfigurable strategy. It adopts the distributed deeply configuration match method to eliminate the most out of the common topology configuration, whose method can increase efficiency. Considering the modular DOF effect on the branch robots locomotion, it combines branched-chain work space analysis, to judge the feasibility of the strategy. Finally, a simulation with ten modules of the robot is shown to prove the feasibility of the proposed strategy.