Research Of The Automatic Modelling Of Dynamics And Tragectory Planning For The Reconfigurable Robot

Reconfigurable modular robot is composed of a series of intelligent modules which can connect to each other. These modules can be assembled into robots system that has different kinematics and dynamics to adapt to different kinds of work. The reconfigurable ability can expand the working range of robot, and modulation can improve the fault-tolerant ablilty and automatic repair ability which reduce development costs. The mechanical design, topological description, kinematics direct and inverse problems, automatic generation of dynamics for reconfigurable robot and trajectory planning are studied.A novel unit module of the Mobile Modular Reconfigurable Robot and its docking mechanism are first presented, which can connect with the adjacent modules with twelve connection ways. The robot system with multiple modules will enable the robot to revolute with multi-directional rotational degree of freedom, and increase the types and functions of its configuration. By using a new type of transmission groove with a sine acceleration curve and a pin-hole connection, the proposed docking mechanism is compact and simple, and easy to control. It can lock tightly by itself between the modules, and also speed up the reliable connection and disconnection of the neighboring modules.Based on the topology analyses of the single module, the mathematical transformation description table to describe the Double Modules’ Space Pose Transformation(DMSPT) is then established, and the forward kinematics equations of the multi-branched chain robot are automatically derived by POE formula. The Genetic Algorithm that put forward the improvement scheme of “immigration” and local optimization algorithm on the basis of Traditional Genetic Algorithm was adopted for the inverse kinematic solutions. Taken the double-branched configuration as an example, the validity of Improved Genetic Algorithm is proved.The dynamic equations of the M2 s Bot are also automatically generated by recursive Newton-Euler method, which is based on the global matrix description. And the algorithm of automatic generation of motion equations is also given by program based on DMSPT. The method has certain universality, and can be applied to other chaining reconfigurable robots.Finally, taken the six-module configuration with two branches as an example, the calculation and simulation of automatically generation demonstrates the feasibility and validity of the proposed method.At last, aimed at the trajectory planning of the end effector, the polynomial interpolating function is used to fit the joint trajectory. And the linear function and circular trajectory planning in Cartesian space are derived. Taken the specific configuration as an example, the algorithm steps of linear trajectory are given.