A Reconfigurable Robot With Lockable Cylindrical Joints
A Reconfigurable Robot With Lockable Cylindrical Joints
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DOI：
10.1109/tro.2009.2017130
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发表时间：
2009-08-01
影响因子：
7.8
通讯作者：
Parsa, Kourosh
中科院分区：
文献类型：
--
作者：
Aghili, Farhad;Parsa, Kourosh
本文提出了一种新的可重构机器人概念设计。与传统的可重构机器人，我们的设计不实现可重构性，利用模块化关节。相反，机器人配备有被动关节，即，没有致动器或传感器的关节，允许改变Denavit Hartenberg（DH）参数，如连杆长度和扭转角。当机器人形成一个封闭的运动链时，被动关节将变得可控。此外，每个被动关节都配备了一个内置的制动机构，该制动机构通常是锁定的，但只要参数要改变，锁定就可以释放。这种多功能、灵活的机器人因其简单、紧凑、轻便的设计而特别适合于空间应用。对这种可重构机器人的运动学和标定进行了深入的分析。设计了一种稳定的重构控制算法，通过直接将被动关节调节到相关联的所需DH参数来将机器人从一种配置带到另一种配置。详细推导了被动关节的能观性和能控性条件。
This paper presents a new conceptual design for reconfigurable robots. Unlike conventional reconfigurable robots, our design does not achieve reconfigurability by utilizing modular joints. Rather, the robot is equipped with passive joints, i.e., joints without actuator or sensor, which permit changing the Denavit Hartenberg (DH) parameters such as the link length and twist angle. The passive joints will become controllable when the robot forms a closed kinematic chain. Also, each passive joint is equipped with a built-in brake mechanism that is normally locked, but the lock can be released whenever the parameters are to be changed. Such a versatile and agile robot is particularly suitable for space application for its simple, compact, and light design. The kinematics and recalibration of this kind of reconfigurable robot are thoroughly analyzed. A stable reconfiguration-control algorithm is devised to take the robot from one configuration to another by directly regulating the passive joints to the associated, desired DH parameters. Conditions for the observability and the controllability of the passive joints are also derived in detail.