Prototype Design And Autonomous Docking Technology Of Modular Resilient Robot

The resilience of robot is inspired by biological self-healing behavior.A resilient robot is a robot that can recover from a partial damage through self-change.The resilience of the robot can improve the viability of the robot system.This thesis is devoted to the development of a modular resilient robot.the main contents are as follows:(1)A novel double block-type resilient robot module named Rebot was developed.The Rebot module consists of a male cube,a female cube,and a link.A male block can be docked with the female block of other modules through a hook-type docking device.A gear-type clutch was installed in the Rebot module,which equips the robot with the characteristics such as under-actuation,passive joint and passive link.Besides,the drive system,control system and communication system of the Rebot robot module were respectively designed.(2)The kinematics and inverse kinematics of the Rebot system were studied.The kinematics and inverse kinematics analysis of the robot system composed of two Rebot modules is performed via D-H parameter method respectively.And MATLAB Robotic Tool Box is used to compute the kinematic and inverse kinematic solution and generate the motion trajectory.(3)The method that the robot realizes self-recovery through autonomous docking method was analyzed.A recovery strategy was proposed,in particular the recovery task can take advantage of a robot's environment to convert the recovery task in a 3D space into the corresponding task in a 2D space.In addition,a novel modular robot autonomous docking method is also proposed.This method uses an object detection model for the self-search of the modules to be docked,and uses infrared sensor to realize self-alignment of the docking module and the docked module and,then achieve autonomous docking based on inverse kinematics method.(4)A prototype of Rebot was manufactured using 3D printing,and an experimental platform for self-recovery of Rebot through autonomous docking was set up.The feasibility of autonomous docking algorithm was verified through both simulation and experiment.