The Research And Design Of Modular Tetrahedral Robot

Modular design method is a superior and novel design method.This method can realize the flexible extension of robots and becomes the inevitable trend of robot technology.And in the field of mobile robot,polyhedral robot is a novel kind of robot which has the environmental-adapting ability.The modularization of polyhedral robot can help the development of robot.Because of this background,there will be the researches on the modular design schemes of polyhedral robot.And using two types of tetrahedral robots as examples,there will be the verification and realization of the design schemes.First of all,from the perspective of geometry,there are the analysis of polyhedron to find its motion mode and basic structural units.And from the perspective of mechanism,the suitable motion mode and basic structural units are obtained in contrast to polyhedral robot.Then the schemes of polyhedral robots' mechanism configuration and connection,the hardware and software of control system are designed.Secondly,using as examples,there are the more detailed researches on the realization schemes of two types of tetrahedral robots' modularization.At the same time,there are kinematics analysis,specific selection of hardware and the design of software flow to verify the feasibility of polyhedral robot's modular design schemes.Nextly,based on the kinematics analysis,the procedures of gait transition are designed and the laws of gait distribution are studied.And based on the laws,the real-time control algorithm of the tetrahedral robot based on revolute joint is designed and realized by using OOP.According to the sensor detection principle,the motion detection algorithm is designed of the tetrahedral robot based on revolute joint The error analysis and correction are done to the initial scheme and the high-precison motion detection algorithm in which the zero offset error,random error and accumulative error are rectified is designed and its modular implementation is studied by using OOP,too.Finally,the main components of the tetrahedral robot based on revolute joint are processed to make the robot's prototype and its control system to verity the feasibility again.