The Unit Module Design And Research Of Reconfigurable Strategy For Self-reconfigurable Robot

The self-reconfigurable robot which can refactor its configuration into a new one depending on the changing of environment and task are widely used in non-manufacturing industry and non-structural working environment.The robot system is made up of the same unit modules that are independent and complete robot.The modules can compose a self-reconfigurable robot system though perceiving and communicating each other.The self-reconfigurable robot system has so various characteristics of configuration diversification,function-expandable and the ability to adapt to the environment and tasks that its scientific research value is important.There are some problems of the unit modular such as geometrical structure irregularity,structural complexity,the weakness of bindiny mechanism and poor mobile ability so that the reconfigurable ability and configuration are confined.In reconstruction strategy research,the traditional topology structure presentation is short of information of space geometry and disserves the refactoring motion planning from reconstruction strategy so that the motion planning is difficult to realize possibly.This paper will do some research of the above questions.Firstly,the M~2Sbot(mobile modular self-reconfigurable robot),one of hybrid self-reconfigurable robot unit modular with mobile ability,is designed in this paper.The unit module has the class of the cuboid shaping structrue,four faces can be used as the junction surface connecting with other modules.Module's main structure is made up of outside u-shaped frame and inside u-shaped frame,the structure is simple and symmetrical.There are two rotational degrees of freedom that the rotary axis are perpendicular each other.The spindle's degree of freedom can impel the module to motive point-blank,the other degree of freedom can impel module swerve.A unique claw type connecting mechanism is designed.The athletic ability of unit module and the enumeration of configuration are analyzed.Secondly,the unit module control system is designed.Through the analysis of the module function demand,the system is divided into control module,drive module,sensor module,communication module,power supply module,etc.The hardware circuit schematics are designed and PCB is made.The docking process is simulated and analyzed at last.In this paper,the space directive topology is used to topology express for the self-reconfigurable robot multi-module configuration.The information about the junction surface,connecting method and the degree of freedom is introduced on the basis of traditional topology structure presentation.The Spatial Linking Matrix(SLM)is used to express the whole space topology information and the branched chain matching address of unit module can be accessed automatically though the SLM.These lay a foundation for configuration matching.Through the recognition algorithm of space configuration,the configuration of self-reconfigurable robot system can be automatically identified fast and accurately,at the same time,the SLM can be acquired automatically.The branched chain matching address can be accessed through the branched chain matching and accessing algorithm,the initial position and the target position of non-public topology module can be accessed through the branched chain matching method.The minimum distance method is used to determine the breakout,configuration refactoring is completed through a breakout branched chain sequence.Considering the self-reconfigurable robot branched chain movement is confined by the unit module configuration designing and the degrees of freedom,the first refactor motion path of unit module will be judged with the aid of branched chain docking condition analysis.If reconstructing branched chain can meet the docking condition,configuration is refactored.If the condition cannot be met,the planning method of cutting before connecting and auxiliary reconstruction is used for the ground configuration and space configuration respectively.Especially,aiming at the problem of space configuration reconstruction of branched chain docking is limited,the auxiliary module reconfiguration method is introduced.The auxiliary module can stabilize configuration center of gravity,increase the degrees of freedom of branched chain,change the connection method of module function and help reconstruct spatial configuration.Finally two simulation experiments are presented in two cases respectively,the result of simulation shows that the reconstruction strategy and motion planning are effective.