可重构模块化机器人模块及构形设计

对可重构模块化机器人模块的结构进行了研究,并归纳设计出7种功能模块,其中包括3种1自由度的关节模块,2种连杆模块和2种辅助模块·所有模块的功能都是独立的,并且每个模块的连接界面都设计成了圆筒形以便重组和提高其刚度·每一种模块都可设计成不同尺寸系列,这些不同类型和尺寸系列的模块便可构成一个模块库·作者对3个自由度串联机器人的构形进行了系统的研究,并应用制作的实验模块对研究结果的可行性进行了验证·

To meet the command of rapid reconfiguration of robot systems, the structure of modules of modular robots was studied. 7 kinds of modules were developed, including 3 as joints with 1 DOF, 2 as links, 1 as base and 1 as connecting module for different series of modules. The design of joint modules takes into account not only kinematic independence but also control independence. The connective parts of all modules were designed in cylindrical form for convenient reconfiguration and increasing rigidity. A modular base can thus be set up by the modules of which each has a series of dimensions. The configurations of 3 DOF series robot system were presented, and the feasibility verification test was done to the experimental modules developed.

国家"十五"科技攻关项目(2001BA206A 2 5);;辽宁省自然科学基金资助项目(9910400204)·