Reconfigurable Design And Integration Of Linear Collaborative Robot Module

With the rapid development of robot technology,robots are widely used in various industries.Due to the lack of flexibility,traditional industrial robots cannot adapt to diverse task requirements,so people have proposed reconfigurable modular robots.This type of robot has good reconfigurability,high scalability,and strong versatility.It can combine different types of robot configurations according to different scenarios.It can adapt to various industrial production and life scene applications.This thesis conducts research on the design of modular robotic systems,mainly including the following content:Fully investigate the market demand and industry research status,analyze and summarize the classification and characteristics of the modular robot system,and propose the design requirements of the linear motion module.Propose the concepts of effective travel/rotation ratio of modular robot drive joint and effective working space ratio of mechanism.Analyze the relationship between the effective working space ratio of the different degrees of freedom reconfigurable robot and the effective travel/rotation ratio of the drive module under the two types of module configurations,and clarify the design goals of the linear motion module with high travel ratio.From the perspective of mechanism degrees of freedom,analyze and sort out the configuration of the reconfigurable robot suitable for the module in this paper under different degrees of freedom,and complete the assembly of the model.Design an omni-adaptive software robot controller module.First,design a software structure with omnidirectional adaptability.After that,use the principle of optical fiber sensing to achieve the bending detection of the software structure.The SVM classification algorithm is then used to realize the multi-motion mode classification of the module.Finally,Apply the soft operation control module to the modular robot system.