| Nowadays, because of the robot used in the non-structural environment frequently, so that’s need the robot can automatically change their configuration to satisfy the different environment and task. This kind of robot is defined as self-reconfigurable modular robot. This paper aim at chained self-reconfigurable modular robot, do the research about space configuration expression, chained module self-reconfiguration strategy, the feasibility analyze of space self-reconfiguration motion plan and single module hardware system design.A novel, homogenous, chained, self-reconfigurable modular robot, M2 SBot, is presented, which possesses flexible mobility and various types for assembly. At first do the mathematical description for single module, analyze the assembly type of adjacent modules, and the way of get logic number for every modules. According to the traditional methods limitation for the spatial configuration expression of the chained modular robot, the spatial-directive topological graph is proposed on the basis of the traditional method through add the assembly type information and module DOF state information. In consideration of the convenient for computer recognition, saving storage and use for the self-configurable strategy, an innovative method is proposed that uses Spatial Assembly Matrix(SAM) to describe the configuration. It can cover all the information of the spatial configuration, and through the chained module assembly DFS algorithm can get every modules’ CAN(Connector Assembled Number).According to the action of the chained modular robot self-reconfigurable, this paper presents the three-dimension morph line reconfigurable strategy. This strategy cover three main aspects about configuration recognition, matching and the plan of reconfigurable motion. In the distributed configurable recognition, we design the theory of assembly information collection, so the active connective surface get the assembly information and through SAM generate algorithm to accomplish the recognition with fast and accurately. The depth configuration matching method is adopted to solve the problem about how to reduce reconfiguration planning area in maximum. We through the CAN to produce the index information, make the modules in two configurations have the matching relationship automatically, and through the double matching principle to finish the edge and AN matching. During configuration matching, every branched chains can work distributed and can match to the end module of the chain. The two steps reconfigurable motion plan is presented which use AN for the driving factor, through the mechanism of local communication between modules, put the line for the middle configuration, adopt line-plan algorithm and tree-plan algorithm to accomplish self-reconfiguration task.Considering the module geometry size and branched degree of freedom must be affect the movement of branched chain, so this paper use the branched chain workspace analysis to judge the feasibility of the space reconfiguration plan. When the two target chains have the common workspace, it can achieve the reconfiguration by the space plan. When they don’t have the common workspace, it will adopt auxiliary module reconfiguration method, to help complete the reconfiguration task. Finally according these two situation have simulation experiment, to demonstrate availability of strategy.In the modular robot hardware control system design, we according to function analyze of system to decide the every unit selection. The control system is composed of the central PC, distributed controller and driving controller. The distributed controller adopt Gumstix board through the wireless network to communicate with central PC, and use serial to have a communication with driving controller that use STM32F103 VE chip. Finally the single module simulation and experiment for obstacle crossing to test the motor drive unit... |
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