Structural Optimization Design And Hardware Implementation Of Resilient Robot's Module

In order to improve the life expectancy of robots under extremely harsh application conditions and reduce the failure rate,the concept of resilient robots was proposed.The resilient robot is required to restore its original function after partial damage.One of the methods to achieve the resilience of the robot is to change the topology of the robot after its function is damaged.Due to the characteristics of the modular robot itself,its topological structure can be easily changed to achieve self-repairing requirements.Therefore,this thesis uses the design idea of the modular robot to optimize the prototype of the existing resilient robot and simulate it with MATLAB.The experiments verify the feasibility of the designed robot module's efficient docking.The two main research objectives of this thesis are:(1)Propose a prototype design of an resilient robot that can achieve efficient self-healing.(2)Experiments verify the feasibility of docking of an optimized resilient robot module.In this study,the axiomatization theory is used to analyze the design matrix of the resilient robot,and then the specific design goals are obtained,and the optimal design principle of the coaxial configuration between the modules is established.A new design scheme for resilient robot modules was proposed.Kinematics simulations using software verified the feasibility of self-healing.The hardware circuit of the motherboard of the robot module unit was designed.The 3D printing technology was used to create the required parts,and build a complete resilient robot module,and experimentally verified the feasibility of the efficient connection and separation between the modules.This thesis mainly has the following research results:(1)Complete the robot hardware module according to the optimized design of the remolding robot prototype program;(2)Complete the robot to achieve the feasibility of self-repair verification through the simulation and experiment.