An Adaptive Robot for Building In-Plane Programmable Structures
An Adaptive Robot for Building In-Plane Programmable Structures
复制标题
用于构建平面内可编程结构的自适应机器人
DOI：
10.1109/iros.2018.8593381
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
J. Gerstmayr
中科院分区：
文献类型：
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作者：
M. Pieber;Rene Neurauter;J. Gerstmayr
提出了一种新的细胞机器人方法。机器人的单个元件是三角形单元，可以通过每个边缘的线性致动器改变它们的形状。新奇之处在于自主细胞在其边缘而不是在顶点处连接。以这种方式，可以形成非结构化的三角形网格。机器人可以自我重新配置，从而可以复制几乎任意的平面形状。以类似的方式，该系统已经实现了四面体在一个简化的方式在以前的工作。自重构系统应作为可编程物质的基础。本文包括机电一体化设计，其组成部分和运动学模型的细胞机器人。为了减少定位误差，建立了一个模型，该模型考虑了连杆和关节的柔度和间隙。基于一个简化的力学模型，使用弹性桁架，定位误差可以预测。这些模型的参数从简单的运动序列识别。此外，执行器的非线性识别和校正。通过这种方式，可以规定所需的三角形形状，而无需测量细胞的位置。
A new approach for cellular robots is presented. The single elements of the robot are triangular cells, which can change their shape by means of linear actuators at each edge. The novelty concerns the connection of autonomous cells at their edges rather than at the vertices. In this way, unstructured triangular meshes can be formed. The robot can self-reconfigure and thus can reproduce almost arbitrary planar shapes. In a similar way, the system has been realized with tetrahedrons in a simplified way within a previous work. The self-reconfigurable system shall serve as a basis for programmable matter. The present paper includes the mechatronic design, its components and the kinematic model of the cellular robot. In order to reduce positioning errors, a model is developed, which considers compliance and clearance in the links and joints. Based on a simplified mechanical model using elastic trusses, the positioning errors can be predicted. The parameters of these models are identified from simple motion sequences. Furthermore, the nonlinearity of actuators is identified and corrected. In this way, the desired triangular shapes can be prescribed without measuring the position of the cells.