模块化自重构机器人关键技术综述及研究展望

近年来，模块化自重构机器人因其构型复杂多样、运动模式丰富多变、目标构型可重构等特性而备受关注。通过对模块化自重构机器人关键技术的文献进行归纳，对现有的模块化自重构机器人关键技术进行了全面总结。首先，介绍了模块化自重构机器人的结构特点以及拓扑结构，重点分析了3种拓扑结构的优缺点以及发展趋势；其次，对自重构机器人现有的关键技术进行了综述，重点关注了模块化自重构机器人3种不同连接结构的物理原理和基本结构、机器人模块的重构算法以及重构过程的快速性3方面技术，分析总结了其优缺点以及发展现状；最后，针对自重构机器人空间在轨、抢险救灾两项任务的发展前景进行了展望，并提出未来的研究重点：1）探索连结结构的强刚度和轻质量的兼具方法，高效快速完成机器人重构过程；2）作业过程中，重构算法的高容错性和低耗能发展；3）将实时数据与所建立的动力学模型进行有机结合，对机器人进行人工调整，提高机器人的作业效率。

Review on key technologies of modular self-reconfigurable robots

In recent years,modular self-reconfigurable robots have attracted much attention due to their complex and diverse configurations,varied motion modes and reconfigurable target configurations.By summarizing the literature on the key technologies of modular self-reconfigurable robots,the existing key technologies of modular self-reconfigurable robots were summarized comprehensively.Firstly,the structural characteristics and topological structure of the modular self-reconfigurable robot were introduced,and the advantages and disadvantages of the three topological structures as well as the development trend were analyzed.Secondly,the existing key technologies of self-reconfigurable robots were summarized,focusing on the physical principles and basic structures of three different connection structures of modular self-reconfigurable robots,the reconstruction algorithm of robot modules and the rapidity of the reconstruction process.The advantages and disadvantages as well as the development status of these technologies were analyzed and summarized.Finally,the development prospects of the space in-orbit and rescue and disaster relief tasks of the self-reconfiguration robot were prospected,and the future research priorities were proposed as follows:1) To explore the method of both strong stiffness and light weight of the connected structure to efficiently and quickly complete the robot reconfiguration process;2) To develop high fault tolerance and low energy consumption of reconstruction algorithm during operation;3) To combine the real-time data with the established dynamic model organically to manually adjust the robot and improve the operating efficiency of the robot.