摘要
蛇形机器人通过改变自身的形状可以在复杂的地形环境中有效地运动,然而传统的一体化设计面临着任务搜救效率低、机器人本体维修困难、机体灵活性差等挑战性问题.针对这些问题,本文研制了新一代可重构模块化蛇形机器人并研究了相应的多模态运动方法.具体而言,新型蛇形机器人可以由任意多个模块通过连接机构重构而成,每个模块都是集成了驱动、控制、通信、电源于一体的可独立运动的单元,模块之间的连接机构采用新型的便于切换的勾爪-插销机构.另外,本文针对该可重构模块化蛇形机器人进行了多模态运动方法研究,具体包括轮式机器人运动模态、平面蜿蜒模态、侧向蜿蜒模态、行波模态、攀爬模态、自主拆分模态等,并具体分析了攀爬运动及单模块转弯运动的性能.最后,基于自主研发的可重构模块化蛇形机器人样机对每种运动模态进行了实验验证.
Snake-like robots can locomote effectively in complex terrains through changing boby shape.However,the traditional integrated design of snake-like robots has some challenging problems,such as low efficiency in rescue and search,difficulty in maintaining robot body,and inferior agility.In order to address these problems,a novel reconfigurable modular robot is developed and multiple motion modes are correspondingly analyzed in this paper.Specifically,the newly developed snake-like robot can be reconfigured by any number of modules through the connection mechanism,wherein each module of the robot integrates communication,power,actuator,and control units,therefore,all modules can behave independently.Besides,the novel connection mechanism between two modules is composed by hook and bolt which are helpful for free switch.Additionally,multiple motion modes are analyzed in this paper,specifically including mobile robot locomotin mode,serpentine mode,sidewinding mode,traveling wave mode,climbing mode,and auto-separation mode.Moreover,the climbing motion of the whole robot and the turning motion of a single module are thoroughly analyzed.Finally,sufficient experiments are performed to verify all motion modes using the developed snakelike robot.
作者
朱威
郭宪
方勇纯
张学有
ZHU Wei;GUO Xian;FANG Yongchun;ZHANG Xueyou(College of Artificial Intelligence,Nankai University,Tianjin 300350,China)
出处
《信息与控制》
CSCD
北大核心
2020年第1期69-77,共9页
Information and Control
基金
国家自然科学基金资助项目(61603200,U1613210).
