| 一种新型的自重构模块机器人 |
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| 引用本文： | 夏平,朱新坚,费燕琼.一种新型的自重构模块机器人[J].上海交通大学学报,2006,40(3):431-434. |
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| 作者姓名： | 夏平 朱新坚 费燕琼 |
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| 作者单位： | 1. 上海交通大学,自动化系,上海,200240
2. 上海交通大学,机器人研究所,上海,200240 |
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| 摘 要： | 提出了一种由相同机械结构单元组成的自重构模块机器人,介绍了该模块的机械结构设计,给出了一种建立在两级分层控制算法基础上的模块连接规划.每个模块可以独立与其他模块相互分离或连接,并且通过与其他模块相互配合来改变其连接方式,从而使整个机器人系统可以获得不同的三维结构和各种静态位形.Java 3D仿真结果表明了连接规划的可行性和有效性.
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| 关 键 词： | 机器人 模块 自重构 |
| 文章编号： | 1006-2467(2006)03-0431-04 |
| 收稿时间： | 2005-03-07 |
| 修稿时间： | 2005年3月7日 |
A Novel Self-Reconfigurable Modular Robot |
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| XIA Ping,ZHU Xin-jian,FEI Yan-qiong.A Novel Self-Reconfigurable Modular Robot[J].Journal of Shanghai Jiaotong University,2006,40(3):431-434. |
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| Authors: | XIA Ping ZHU Xin-jian FEI Yan-qiong |
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| Institution: | a. Inst. of Automation; b. Research Inst. of Robotics, Shanghai Jiaotong Univ. , Shanghai 200240, China |
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| Abstract: | The design of a self-reconfigurable modular machine which is composed of homogeneous mechanical units was proposed.Its connection planning was presented based on two hierarchical layers decomposition method.Each module can independently connect or disconnect with other modules,and then change the connection by collaborating with other modules.The self-reconfigurable modular system can form any 3D arbitrary structure and different static shape by themselves.The simulation of connection planning by utilizing 3D Java proves the new method for controlling modular robot is useful and effectual. |
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| Keywords: | robot module self-reconfigurable |
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