Design Of The Lattice-Type Modular Robot And Research On Self-Repairing Algorithm

Modular robot system(MRS)consists of several modules with the ability of sense,communication,decision-making,and action.MRS can change its topological structure by connecting and disconnecting between modules to adapt to the dynamic work environment.Self-repairing is one of the most important properties of MRS,it makes the system more reliable and robust.M-Lattice is a Space Solar Power Station(SSPS)oriented lattice-type modular robot system.The first generation of prototype M-Lattice I and fault diagnosis algorithm of M-Lattice MRS have been completed.Based on these achievements,the main work of this article includes five aspects as follow:Firstly,describing the basic structure of M-Lattice I,and proposing the scheme for hardware realization;choosing the commication mode taking into account the feature of MRS self-repairing task.Secondly,the mechanical structure of M-Lattice is optimaly designed to solve the issue that there is interference during the process of M-Lattice I self-repairing.Then kinematics analysis and simulation of M-Lattice II have been carried out to proof no interference existing under various kinds of motions.Thirdly,describing the topological structure of M-Lattice MRS mathematically,parameterizing the topological properties of modules in order to be used in the self-repairing algorithm for action decision.As the motion mode of modular robot is quite different from the one of normal robot,this article analyzes the motion mode and characteristic of modular robot to help design the self-repairing algorithm.Fourthly,proposing a novel self-repairing algorithm of lattice-type MRS based on Digital Hormone Model(DHM).Digtal hormone is secreted by certain modules,and diffused inside the system.Each module is a independent arbitration unit which moves follows a certain rule according to the surrounding digital hormone concentration.The hole will move to the spare module under the guide of digital hormone to accomplish self-repairing.Finally,designing and developing the simulation platform for MRS self-repairing,and then realizing the algorithm on it.Through the simulation experiments on various failure situations,the effectiveness of the algorithms is confirmed.