Characteristics Modeling And Analysis Of Junction Surface Of Robotic Modules

Due to modular robot system is with many advantages and benefits, such as versatility,recongigurability, low-cost, fault-tolerance and self-repair，modularity has become one of theimportant trend of the development of robots. However, the modular robot has also exposedsome inherent defects in the process of application, which cause the precision and stiffnessindex of the modular robot are lower than the traditional robot, so, it results that the modularrobot can not be applied in high precision works. Therefore, it is necessary to study the effectof robot modules to the modular robot and how to improve the performance of the modularrobot. Now, for one thing, the researches of junction surfaces of robotic modules are verylittle, for another, there is no dynamic model of junction surfaces of robotic modules. To these,this paper carried out related researches and the main contents are as follows:1) By combining the micro mechanism of junction surfaces, this paper puts forward adynamic modeling method of junction surfaces of robotic modules based on virtual medium.The dynamic model is established, by which the coupling relationship between the asperitiesof junction surface is successfully simulated.2) The fractal dimension and the scale coefficient of the equivalent junction surfaces areobtained by3D surface profilometer and power spectrum analysis, and make them apply tothe dynamic model of junction surfaces of robotic modules which is established in this paper.3) Combined with finite element analysis and modal test of the module assembly, thedynamic model of junction surfaces of robotic modules in this paper is verified effective andfeasible.4) Based on the dynamic model of junction surfaces of robotic modules, the coupledmodel of modular robots is established, and then put forward the analytical methods of allwork characteristics of the coupled modular robots.5) This paper proposes an error analytical model of the modular robots end, and theinfluences of micro deformation of junction surfaces of robotic modules to the position andposture errors of the modular robots end were analyed through the relevant case analysis.