| In the development of science and technology today,software robots have gained more and more applications in various fields,especially in the case of complex terrain or harsh environments,such as pipeline exploration,holes or wall seams,using software robots instead of human work.It is efficient and safe,but its own configuration cannot be changed.If you design a variety of software robots for each environment,it will waste resources.The modular software robots are composed of one or more,which have strong deformation ability and rich motion forms.When the concept of modularity and soft materials are combined,the two have collided with a fierce spark.As the latest cutting-edge robot concept,it also faces serious problems,such as the structure of the software module,the driving method and the motion planning algorithm.This paper builds a software module through the experience of the predecessors,designs a corresponding simple control system,and develops a soft modular robot kinematics simulation software through the Voxcad software physics engine.And its structure is more suitable for self-reconfigurable functions.For the software module,the cube structure is designed,and a cylindrical magnet is embedded inside the twelve ribs.Then the theoretical analysis of the model,kinematics simulation in ABAQUS software to determine the design parameters to meet the needs of the experiment.Finally,a small-volume production mold was designed for the software module,and the physical object was produced by 3D printing under the premise of ensuring the quality.For the control system platform,this design establishes a closed-loop feedback system for the software module.Starting from the selection of hardware,such as microcontrollers,air pressure sensors and gas switching solenoid valves,to design the drive circuit and power management circuit and make PCB board,customize a set of serial communication protocol to control the air pressure and debug successfully.At the end,the closed-loop feedback control of the air pressure is realized by the incremental PID of the control algorithm.For the software kinematics simulation software,the more mature Voxcad physics engine is integrated,and a kinematics simulation software for the reconfigurable software modular robot is studied.Based on the QT interface platform,a set of independent Ribbon-style interface UI is built.OpenGL's popular graphics library is embedded to display the software model.The XML model language is used to record and set the software model parameters and simulation environment parameters,supplemented by the Zlib library.The efficient processing of large data streams improves the reading speed of the data model that meets the large occupied space,and achieves stable,robust and compatible high-integration real-time simulation functions.The software is based on object programming,which makes it easy to extend the functionality and portability,and it can be improved by future generations.At the end of the paper,experiments of simulation software and experiments of software module experimental platform were carried out.The dynamics simulation of the single software module is carried out in the simulation software.The simulation results are in line with the actual motion.The motion simulation of the three software modules is carried out.The controller performs the transverse wave motion as the expression of the sine function.The curve of the movement distance as a function of time.Subsequently,on the experimental platform,the single-module and three-module motion experiments were carried out to demonstrate,and the relationship between volume and pressure of the software module was also carried out,which confirmed the usability of the simulation software. |
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