Configuration analysis of a reconfigurable Rubik's snake robot
Configuration analysis of a reconfigurable Rubik's snake robot
复制标题
可重构魔蛇机器人的结构分析
DOI：
10.1177/0954406218805112
复制
发表时间：
2019-05-01
影响因子：
2
通讯作者：
Sun, Qi
中科院分区：
文献类型：
--
作者：
Liu, Jinguo;Zhang, Xin;Sun, Qi
多功能性和适应性是可重构模块化机器人系统最突出的优势。与集成机器人系统不同，可重新配置的模块化机器人可以重新布置以适应不可预测的环境。本文提出了一种新型可重构模块化机器人，其灵感来自魔方蛇玩具。对于这种可重构魔蛇机器人来说，其特殊之处在于它不仅可以作为机构，而且可以作为可重构结构。配置分析是本文的核心内容。提出有效配置的概念来描述有效、可控、互不干扰的配置。按照构形表示、同构分析、干涉分析、运动序列分析等方面介绍了构形分析理论。这里，提出了配置表示来分别使用邻接矩阵和二进制数字代码来定义两个模块的位置和方向。等效数字码和构型环分别用于区分开同构构型和闭同构构型的相同或对称构型。同时，通过实例验证了同构分析的有效性。此外，引入工作空间干扰方法来检测形成目标配置过程中的干扰问题。为了正确地完成目标配置，定义运动序列矩阵来描述实现目标配置的运动序列。最后通过构型变换实验验证了构型分析理论的合理性和正确性。
Versatility and adaptability are the most prominent advantages of reconfigurable modular robotic systems. Unlike integrated robotic systems, reconfigurable modular robots can be rearranged to adapt to unpredictable environments. This paper presents a novel reconfigurable modular robot inspired by the Rubik's snake toy. For this reconfigurable Rubik's snake robot, the special feature is that it can work as not only a mechanism but also as a reconfigurable structure. In this paper, the configuration analysis is the core content. The concept of valid configurations is proposed to describe valid, controllable, and non-interference configurations. The configuration analysis theories are introduced in accordance with the configuration representation, the isomorphism analysis, the interference analysis, and the motion sequence analysis. Here, the configuration representation is proposed to define the position and orientation of two modules by using the adjacency matrix and the binary digital code, respectively. The equivalent digital code and the configuration ring are used to distinguish the same or symmetric configurations for the open and closed isomorphism configurations, respectively. Meanwhile, a case study is conducted to verify the effectiveness of the isomorphism analysis. Furthermore, the working space interference method is introduced to detect the interference issue in the process of forming target configurations. To accomplish a target configuration properly, the motion sequence matrix is defined to describe the motion sequence for achieving a target configuration. Finally, an experiment on the configuration transformation is demonstrated to verify the rationality and correctness of the theories of configuration analysis.