上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

一种新型自重构机器人模块的对接机构设计

蒋东升，管恩广，付庄，赵言正
  

  1. (上海交通大学 机器人研究所， 上海 200240)
  • 收稿日期:2009-12-10 修回日期:1900-01-01 出版日期:2010-08-31 发布日期:2010-08-31

Design of the Connection Mechanism for a Novel Selfreconfigurable Modular Robot

JIANG Dongsheng，GUAN Enguang，FU Zhuang，ZHAO Yanzheng

  

  1. (Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2009-12-10 Revised:1900-01-01 Online:2010-08-31 Published:2010-08-31

摘要： 提出了一种新颖的晶格式空间自重构机器人模块，并进行了模块的三维结构设计.详细阐述了该自重构机器人模块基于销槽楔合、雌雄同体的对接机构设计方法，分析了系统的运动精度并给出了相应的误差控制方案.设计了静态及动态的2组实物实验，从不同工作条件验证了该对接机构能够快速、可靠地实现对接过程，对接耗时约为2 s，对接完成后的机械连接强度可超过50 N的轴向拉伸负载，较好地完成了机器人模块的自重构任务.

关键词: 自重构机器人, 晶格式, 模块化, 对接机构

Abstract: The lattice selfreconfigurable modular robot has attracted more and more attention for its excellent flexibility in connection and separation movements. A novel selfreconfigurable robot module, called MLattice, was presented. A genderless pinslotbased connection mechanism was introduced. The static and dynamic experiments indicate that the selfreconfiguration connection can be accomplished by the mechanism smoothly and rapidly. The time cost of the connecting movement is approximately 2 seconds and the strength of connection between the two mechanisms is capable of over 50 N axial load.

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