| 太阳能电池阵模块化自重构机器人模型的设计和运动仿真 |
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| 引用本文： | 丁越,付庄,朱俊青,蒋东升,赵言正,马培荪.太阳能电池阵模块化自重构机器人模型的设计和运动仿真[J].东南大学学报(自然科学版),2009(Z1). |
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| 作者姓名： | 丁越 付庄 朱俊青 蒋东升 赵言正 马培荪 |
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| 作者单位： | 上海交通大学机械与动力工程学院; |
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| 基金项目： | 国家自然科学基金资助项目(60875058) |
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| 摘 要： | 为实现空间航天器电池阵部件的自装配与自修复,设计了一种既可用于搭载航天器太阳能电池板,又能通过相互之间的运动转换完成特定任务的正三角形三臂对接平面晶格式自重构机器人模型.每个机器人模块包含有1个中心框体和3条对接单臂,其中每条对接单臂有2个旋转运动关节和1个对接关节,共3个自由度.每条对接臂的运动互不关联,单条对接臂上2个运动关节的电机可各自独立转动.对机器人模块进行了运动规划,推导出变换矩阵,并进行了Simulink动力学仿真.仿真结果表明,该机器人相似模型可以在地面实验室条件下完成构形转换、实施对接等任务.
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| 关 键 词： | 自重构机器人 运动规划 结构设计 仿真 |
Design and motion simulation of modular self-reconfigurable robot of space solar cell |
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| Ding Yue Fu Zhuang Zhu Junqing Jiang Dongsheng Zhao Yanzheng Ma Peisun.Design and motion simulation of modular self-reconfigurable robot of space solar cell[J].Journal of Southeast University(Natural Science Edition),2009(Z1). |
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| Authors: | Ding Yue Fu Zhuang Zhu Junqing Jiang Dongsheng Zhao Yanzheng Ma Peisun |
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| Institution: | Ding Yue Fu Zhuang Zhu Junqing Jiang Dongsheng Zhao Yanzheng Ma Peisun(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China) |
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| Abstract: | To achieve the function of assembling and self-repairing of spacecraft's solar cell system,a new modular,lattice self-reconfigurable robot with equilateral triangle form and three connecting arms,is proposed to carry space solar cells and accomplish specific missions through structure changing with other modules.Every module contains a center frame and three arms.For each connecting arm,it has two rotating joints and a connecting joint with three degrees of freedom in all.It is independent for each connecti... |
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| Keywords: | self-reconfigurable robot motion planning structure design simulation |
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