Scalable modular self-reconfigurable robots using external actuation
Scalable modular self-reconfigurable robots using external actuation
复制标题
使用外部驱动的可扩展模块化自重构机器人
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
Mark H. Yim
中科院分区：
文献类型：
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作者：
Paul J. White;Mark H. Yim
本文提出了一种以执行机构为核心的自重构系统的规模缩小和模块数扩大的方法。而不是开发更小的致动器，主致动器被完全删除。相反，能量来自环境，以规定的同步方式提供运动。规定的同步运动允许更快的组装时间比随机布朗运动已经使用过。这个想法的一个实例是使用一个运动平台，以引起基于模块的惯性特性和小闩锁机构的定时致动的运动。
This paper presents a method for scaling down the size and scaling up the number of modules of self- re configurable systems by focusing on the actuation mechanism. Rather than developing smaller actuators, the main actuator is removed entirely. Energy instead comes from the environment to provide motion in prescribed synchronous ways. Prescribed synchronous motions allow much faster assembly times than random Brownian motion which has been used before. An instantiation of this idea is presented using a motion platform to induce motions based on the inertial properties of the modules and the timed actuation of small latching mechanisms.