论文部分内容阅读
根据自重构机器人的特点,设计了一种新型的同构阵列式自重构机器人M-Cubes,其每个单元模块由6个旋转关节和1个立方体连杆组成,具有12个自由度,旋转关节上设计了一种机械式的连接分离机构,连杆内部设计了一种空间传动系统,用一个电机分别带动6个空间均布的关节旋转,机构整体结构上更加简洁、紧凑.对设计的模块进行的基本运动试验表明传动更加高效,连接分离更加可靠,控制更加简单方便.同时开发了一个自重构机器人仿真平台,可以图形化地设计系统的构型、模块的运动和系统的重构过程.利用元胞自动机的局部作用特性,将每个单元模块简化为元胞,结合遗传算法来进化元胞自动机的转移规则,将转移规则作用于每个单元模块,实现分布式控制,仿真结果表明该方法是有效和可行的.
According to the characteristics of self-reconfigurable robots, a new type of isomorphic array self-reconfigurable robot M-Cubes is designed. Each unit module consists of six rotating joints and one cubic connecting rod with 12 degrees of freedom, A kind of mechanical connection and disconnecting mechanism is designed on the rotating joint. A spatial transmission system is designed inside the connecting rod, and six motors are driven by one motor respectively to rotate the joints evenly. The overall structure of the mechanism is more compact and compact. The basic motion tests carried out by the module show that the transmission is more efficient, the connection is more reliable, the control is more simple and convenient.A self-reconfigurable robot simulation platform is also developed to graphically design the system configuration, module movement and system weight Structure process.Using the local action characteristics of cellular automata, each unit module is simplified as a cellular unit, and combined with genetic algorithm to evolve the transfer rules of cellular automaton, the transfer rules are applied to each unit module to achieve distributed control The simulation results show that this method is effective and feasible.