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为解决模块化自重构机器人在自组装过程中角度调整精度差的问题,设计了一种新型的同构型混合式模块化自重构机器人Xmobot,其每个单元模块包含4个旋转关节和1个自转机构.通过利用所设计的自转机构,将单元模块的角度调整精度提高至2°,同时有效地提升了单元模块在自组装过程中的相对位置调整效率.实验测得单元模块在单步态周期内的最大运动距离为11.0 cm.针对单元模块的多自由度特点,提出了一种基于中枢模式发生器(CPG)的运动控制器,单元模块的5个关节仅需2个CPG振荡器就能够进行控制.该基于CPG的运动控制器具有3种基本的输出模式:振荡模式、旋转模式和固定模式.分别对H型联体的蛇形和轮式运动进行仿真,结果表明,H型联体2种运动的平均速度分别达到了15.2和20.1m/min,验证了所提出的基于CPG的运动控制器具有良好的控制性能.
In order to solve the problem of poor self-assembly angle adjustment accuracy of modularized self-reconfigurable robots, a new type of self-reconfigurable hybrid robot with self-reconfiguration structure Xmobot is designed. Each unit cell contains four rotating joints and 1 autorotation mechanism.Using the designed rotation mechanism, the angle accuracy of the unit module is increased to 2 °, and the relative position adjustment efficiency of the unit module in the self-assembly process is effectively improved. The maximum movement distance in gait cycle is 11.0 cm. For the multi-degree of freedom of unit module, a motion controller based on central pattern generator (CPG) is proposed. Only 5 CPG oscillations The CPG-based motion controller has three basic output modes: oscillation mode, rotation mode and fixed mode.The simulation of the serpentine and wheeled motions of the H-type coupler shows that H The average speeds of the two kinds of sports of the conjoined body reached 15.2 and 20.1 m / min respectively, which proves that the proposed CPG-based sports controller has good control performance.