MLattice模块机器人的运动学分析及构型优化

doi:10.16183/j.cnki.jsjtu.2017.10.001

摘要/Abstract

摘要： 针对模块机器人在运动过程中遇到的运动干涉问题，提出了一种应用于MLattice模块机器人的构型优化设计.通过引入平动关节，实现模块机器人机械臂的收缩和伸展运动，从而避免运动干涉.通过运动学分析，在避免运动干涉的前提下尽可能减少平动关节的行程，从而顺利完成自重构过程并确保模块机器人自身的结构强度及稳定性.通过对不同运动情况下的运动空间的仿真和原型机实验，验证了优化构型的可行性和运动能力.结果表明，引入的平动关节能够很好地避免模块间的运动干涉且各机械关节的设计切实可行，为后续大规模模块机器人系统的研究建立了基础.

关键词: , 晶格式, 模块机器人, 运动干涉, 运动学分析, 构型优化

Abstract: To solve the movement interference happening during the motions of modular robots, an optimized structure design is proposed and applied to the MLattice modular robots. By introducing a translational joint, the mechanical arms of modular robots are able to shrink and stretch to avoid the movement interference. Through the kinematic analysis, the movement interference can be avoided and also the stroke of translational joint can be minimized, then the modular robots can successfully realize the selfreconfiguration process and ensure the structural strength as well as the stability of the robots. The feasibility and motor ability of optimized structure are verified through the simulations of motion spaces under different situations and the experiment of prototype robots. The results show that the introduced translational joint can well avoid the movement interference happening among the adjacent modules, that the design of each mechanical joint is operable, and that it establishes the foundation for the further researches about large scale modular robotics system.

Key words: lattice type, modular robot, movement interference, kinematic analysis, structure optimization

中图分类号:

杨振，付庄，管恩广，徐建南，田仕禾，郑辉. MLattice模块机器人的运动学分析及构型优化[J]. 上海交通大学学报（自然版）, 2017, 51(10): 1153-1159.

YANG Zhen,FU Zhuang,GUAN Enguang,XU Jiannan,TIAN Shihe,ZHENG Hui. The Kinematic Analysis and Structure Optimization of
MLattice Modular Robot[J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1153-1159.

参考文献

1］高文斌, 王洪光, 姜勇，等. 模块化可重构机器人标定方法研究［J］. 机械工程学报, 2013, 49(17): 92100.
GAO Wenbin, WANG Hongguang, JIANG Yong, et al. Research on the calibration of modular reconfigurable robot［J］. Journal of Mechanical Engineering, 2013, 49(17): 92100.
［2］费燕琼, 王永, 宋立博，等. 网格型自重构模块化机器人的对接过程［J］. 机械工程学报, 2011, 47(7): 3137.
FEI Yanqiong, WANG Yong, SONG Libo, et al. Docking process of lattice selfreconfigurable modular robots［J］. Journal of Mechanical Engineering, 2011, 47(7): 3137.
［3］NEUBERT J, LIPSON H. Soldercubes: A selfsoldering selfreconfiguring modular robot system［J］. Autonomous Robots, 2015, 40(1): 120.
［4］YIM M, SHEN W M, SALEMI B, et al. Modular selfreconfigurable robot systems—Challenges and opportunities for the future［J］. IEEE Robotics & Automation Magazine, 2007, 14(1): 4352.
［5］WU Chao, WANG Xuyang, ZHUANG Guangjiao, et al. Motion of an underwater selfreconfigurable robot with treelike configurations［J］. Journal of Shanghai Jiao Tong University (Science), 2013, 18(5): 598605.
［6］HOSSAIN S G M, NELSON C A, DASGUPTA P. Hardware design and testing of ModRED: A modular selfreconfigurable robot system［C］∥Advances in Reconfigurable Mechanisms and Robots. London: Springer, 2012: 515523.
［7］MENG Y, ZHANG Y, SAMPATH A, et al. Crossball: A new morphogenetic selfreconfigurable modular robot［J］.IEEE International Conference on Robotics and Automation, 2011, 43(9): 267272.
［8］GARCIA R F M, HILLER J, STOY K, et al. A vacuumbased bonding mechanism for modular robotics［J］. IEEE Transactions on Robotics, 2011, 27(5): 876890.
［9］HONG W, WANG S, SHUI D. Reconfigurable robot system based on electromagnetic design［C］∥International Conference on Fluid Power and Mechatronics. China: IEEE, 2011: 570575.
［10］KEVIN C W, MATTHEW S M, MICHAEL D M K, et al. M3Express: A lowcost independentlymobile reconfigurable modular robot［C］∥International Conference on Robotics and Automation. USA: IEEE, 2012: 27042710.
［11］GRAHAM G R, HARRY H C. Design of iMobot, an intelligent reconfigurable mobile robot with novel locomotion［C］∥International Conference on Robotics and Automation. USA: IEEE, 2010: 6065.
［12］LYDER A, FRANCO R, GARCIA M, et al. Genderless connection mechanism for modular robots introducing torque transmission between modules［C］∥International Conference on Robotics and Automation. USA: IEEE, 2010: 7781.
［13］GUAN E, YAN W, JIANG D, et al. A novel design for the selfreconfigurable robot module and connection mechanism［C］∥International Conference on Intelligent Robotics and Applications. Berlin: Springer, 2010: 400408.
［14］GUAN Enguang, FU Zhuang, FEI Jian, et al. MLattice: A selfconfigurable modular robotic system for composing space solar panels［J］. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 2015, 229(5): 39.
［15］JOHN J C. Introduction to robotics: Mechanics and control［M］. Upper Saddle River: Pearson Prentice Hall, 2005: 6276.

[1]	王聚团, 戚晓宁, 黄志明. 水下生产管汇测试技术及其改进研究[J]. 海洋工程装备与技术, 2022, 9(2): 43-49.
[2]	袁振钦, 邹科, 孙亚峰, 刘刚, 屈衍, 李居跃. 基于时域分析法的动态电缆疲劳分析[J]. 海洋工程装备与技术, 2022, 9(2): 50-55.
[3]	王娟, 杨明旺, 郑茂尧, 刘凌云, 赵立君. 高强钢在大型半潜式平台组块建造中的应用[J]. 海洋工程装备与技术, 2022, 9(1): 27-31.
[4]	陈欣, 赵晓磊, 王立坤, 肖德明, 张腾月. 深水大型吸力锚建造技术研究[J]. 海洋工程装备与技术, 2022, 9(1): 32-36.
[5]	尹彦坤, 易涤非. 半潜式生产平台船体结构关键节点工程临界评估[J]. 海洋工程装备与技术, 2022, 9(1): 52-57.
[6]	MA Qunsheng (马群圣), CEN Xingxing (岑星星), YUAN Junyi (袁骏毅), HOU Xumin (侯旭敏). Word Embedding Bootstrapped Deep Active Learning Method to Information Extraction on Chinese Electronic Medical Record[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 494-502.
[7]	ZHANG Shengfa (张胜发), TANG Na (唐纳), SHEN Guofeng (沈国峰), WANG Han (王悍), QIAO Shan (乔杉). Universal Software Architecture of Magnetic Resonance-Guided Focused Ultrasound Surgery System and Experimental Study[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 471-481.
[8]	安庆升, 孙立东, 武秋生. 碳纤维增强复合材料发射筒设计研究[J]. 空天防御, 2021, 4(2): 13-.
[9]	KONG Xiangqiang (孔祥强), MENG Xiangxi (孟祥熙), LI Jianbo (李见波), SHANG Yanping (尚燕平), CUI Fulin (崔福林) . Comparative Study on Two-Stage Absorption Refrigeration Systems with Different Working Pairs[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 155-162.
[10]	ZHUANG Weimin (庄蔚敏), WANG Pengyue (王鹏跃), AO Wenhong (熬文宏), CHEN Gang (陈刚) . Experiment and Simulation of Impact Response of Woven CFRP Laminates with Different Stacking Angles[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 218-230.
[11]	ZHOU Xuhui (周旭辉), ZHANG Wenguang (张文光), XIE Jie (谢颉). Effects of Micro-Milling and Laser Engraving on Processing Quality and Implantation Mechanics of PEG-Dexamethasone Coated Neural Probe[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 1-9.
[12]	HUANG Ningning (黄宁宁), MA Yixin (马艺馨), ZHANG Mingzhu (张明珠), GE Hao (葛浩), WU Huawei (吴华伟). Finite Element Modeling of Human Thorax Based on MRI Images for EIT Image Reconstruction[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 33-39.
[13]	WANG Xianjin, GAO Xu, YU Kuigang . Fixture Locating Modelling and Optimization Research of Aluminum Alloy Sidewall in a High-Speed Train Body[J]. J Shanghai Jiaotong Univ Sci, 2020, 25(6): 706-713.
[14]	QIAO Xing, MA Dan, YAO Xuliang, FENG Baolin. Stability and Numerical Analysis of a Standby System[J]. J Shanghai Jiaotong Univ Sci, 2020, 25(6): 769-778.
[15]	WU Jin, MIN Yu, YANG Xiaodie, MA Simin . Micro-Expression Recognition Algorithm Based on Information Entropy Feature[J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(5): 589-599.