Design and implementation of a modular self-reconfigurable robot

被引:0
作者
赵杰
机构
[1] StateKeyLaboratoryofRoboticsandSystem,HarbinInstituteofTechnology
关键词
self-reconfigurable robot; modular; twin-rotation; connecting mechanism;
D O I
暂无
中图分类号
TP242 [机器人];
学科分类号
1111 ;
摘要
<正> A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.
引用
收藏
页码:227 / 232
页数:6
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