The Research on a New Modular Self-Reconfigurable Robot
|School||Harbin Institute of Technology|
|Course||Mechanical and Electronic Engineering|
|Keywords||modular self-reconfigurable robot connecting mechanism relative azimuth description harmony motion|
Modular self-reconfigurable robot (MSR) consists of many standard modules connected together. Each module has motion and perception ability to some extent, and also has the ability to connect to, distract from or communicate with adjacent modules. MSR can apperceive surroundings using its module sensors and change configuration rearranging its modules in order to expand motion modes and complete tasks. Compared with traditional robots, MSR has many merits, such as modularity, self-reconfigurable, self-assemble, economic characters, rich motion modes, and high reliability. So MSR can be used in complex environment to accomplish complex tasks, such as space exploration, rescue, search and space structure building etc. It can also be used in education and service fields. The research on the MSR system has very important theoretical and practical significance.A novel MSR module which has two rotational DOF is developed in this paper. The module has a cubic shape and two rotational DOF perpendicularly intersected. A plane connecting mechanism with rotating hooks was studied. The connecting mechanism has a compact structure and works rapidly and reliably when connecting to other ones. It has the self-lock ability after connecting, so no energy input is needed. And the disconnecting process of the connector needs no space. Including power inside and adopting wireless communication, the modules have no difficulties of wire-twist in process of self-reconfiguration. The close structure and the man-machine interface embedded in the surface make the module easy to be used or maintained and much more beautiful.Aimed at developed modules, the topology, self-status and connection situation of the modular system were completely described by the three-dimensional relative azimuth description. The establishing method of the robot’s obstacle avoidance motion rules library was introduced, combined with the module action description model.Researching on specialty of module location and orientation of MSR representative configuration, motion control law was analyzed. Standard configurations lists of representative configurations were built. Combined standard gait control table with relative location and orientation table, whole robotic harmony motion problems were solved, these problems are difficult because of variation of module numbers, location or orientation in MSR. Finally, the whole harmony motion simulation of the standard configurations of MSR was made, which verified the correctness of the whole harmony motion control method.