Analysis on Self-Morphing Process of Self-Reconfigurable Modular Robot
Analysis on Self-Morphing Process of Self-Reconfigurable Modular Robot
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DOI：
10.5772/7232
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发表时间：
2009-09
影响因子：
2.3
通讯作者：
Y. Fei;Yueliang Zhu;Ping Xia
中科院分区：
文献类型：
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作者：
Y. Fei;Yueliang Zhu;Ping Xia
自重构模块化机器人由许多相同的模块组成。通过连接/断开其他模块，机器人的整个结构可以转换为任意其他配置。首先，提出了一种格型自重构模块化机器人，分析了其断开/连接机理，实现了自变形动作。其次，利用特征向量矩阵分析了模块的基本结构。提出了运动规则。第三，利用模块的几何特征描述了可能的运动空间，这对于实现自变形过程是有效的。利用驱动函数和邻接矩阵描述了机器人的自变形运动过程，为解决自重构变形过程中的计算问题和优化机器人的运动路径提供了依据。最后，通过三模块运动实验和多模块自变形过程仿真，验证了上述分析的有效性。
The self-reconfigurable modular robot consists of many identical modules. By connecting to/disconnecting from other modules, the whole structure of the robot can transform into arbitrary other configurations. First, the lattice-type self-reconfigurable modular robot is proposed and its disconnected/connected mechanism is analyzed, which can finish self-morphing action. Second, the basic configuration of the module is analyzed with the eigenvector matrix. The motion rules are proposed. Third, the possible motion space is described with the geometric feature of modules which is effective for performing the self-morphing process. Then, the self-morphing motion process is described with the driving function and the adjacency matrix which is useful to solve the computation problem and optimize the motion paths of the robot during the self-reconfigurable morphing process. Final, an experiment of three-module motion and a simulation of multi-module's self-morphing process are shown to prove that the above analyses are effective.