| 刘开元,陈萌,费燕琼.串联型模块化机器人重构策略[J].高技术通讯(中文),2019,29(10):995~1002 |
| 串联型模块化机器人重构策略 |
| Reconfiguration strategy of series modular robot |
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| DOI：10.3772/j.issn.1002-0470.2019.10.007 |
| 中文关键词: 模块化； 拓扑矩阵； 重构策略； 驱动方法 |
| 英文关键词: series, modular, adjacency matrix, reconfiguration strategy, driving method |
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| 摘要点击次数: 2615 |
| 全文下载次数: 1820 |
| 中文摘要: |
| 本文介绍了一种立方形可重构模块化机器人，针对由该模块构成的无环串联多模块机器人系统，提出了拓扑关系矩阵，实现对串联型模块化机器人的拓扑关系的描述。基于拓扑关系矩阵给出了同构构型的判定方法。基于模块的结构特点，分析了模块的运动能力，介绍了姿态调整单元和L型位移单元，讨论了模块在L型位移单元驱动下可以到达的空间。为实现不同构型的模块链之间的重构，提出了基于辅助模块组的重构策略，证明了不同构型的多模块系统之间在该重构策略下，可实现相互重构的充要条件。基于广度优先搜索算法，提出了最快深度下降法，以驱动辅助模块组不断向目标位置运动，最终实现重构的目的。最后，进行了软件仿真，实现了不同模块链之间的重构，验证了重构理论的正确性。 |
| 英文摘要: |
| This paper briefly introduces the structural characteristics of a cubic reconfigurable modular robot. And we define eigenvector to describe a single module mathematic. Furthermore, an adjacency matrix to describe the posture information and topological relation of the multi-module chain is proposed. Because the module is not completely symmetrical, the same configuration will present different forms. That is isomorphism. For this reason, with the help of adjacency matrix, the decision method of the isomorphic configuration is proposed in this paper. Based on the structure characteristics of the module, the motion capability of the module is analyzed. The posture adjustment unit and the L-shaped unit are introduced. In order to achieve reconfiguration among different configurations, a strategy based on auxiliary module group is proposed. And it is proved what conditions that the multi-module systems with different configurations can realize mutual reconfiguration with this reconstruction strategy are required. Based on the broad-first algorithm, the fastest depth descent method is proposed to drive the auxiliary module group to move to the target position one by one, and make sure the purpose of reconfiguration will be realized. Finally, based on the theory proposed in this paper, the software simulation is carried out, and the reconfiguration between different multi-module chains is realized, which verifies the correctness of the theory. |
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