System Design And Research Of Modular Self-Assembly Robot

Modular self-reconfigurable robots are composed of individual modular units.These modular units themselves are also equivalent to a small robot.Through autonomous connection and disconnection between modular units,various robots with different configurations can be constructed.Meet the needs of increasingly complex tasks.At present,modular self-reconfigurable robots mainly remain in the laboratory stage,and are rarely used in industrial environments.The configuration changes of industrial modular robots are done manually,and their modular units are basically not intelligent.This article focuses on the research of modular selfassembling robot systems,and hopes to achieve industrial application of modular self-reconfigurable robots to a certain extent.The main research contents include: structural design of robot module units,description of modular robot configuration,self-assembly In the process of positioning and calibration between modular units,as well as the modular unit self-assembly process planning research.The structural design of the module unit mainly includes the design of the connection interface,the realization of the autonomous movement of the module unit,and the design of the driving ability of the joint module.This paper analyzes and summarizes the dynamics of robots of all configurations with two degrees of freedom and three degrees of freedom,and refines a method that can calculate the dynamics of robots with all configurations within six degrees of freedom,thus ensuring the driving ability of the joint module Can meet the task requirements without causing too much waste.The "one side,two pins" positioning method is used to ensure the mechanical positioning of the connection interface and facilitate the positioning during the connection process,and then use the crank slider dead point mechanism to drive the four claws to achieve the connection locking of the module unit.Finally,by fixing the wheels and the rotation output interface of the joint module together,the two joint modules form a cart unit,which realizes the omnidirectional autonomous movement of the module unit and greatly simplifies the structure of the module unit.Since modular self-assembling robots can be assembled in a variety of configurations,and the module units also have different specifications,in order to realize the self-assembly of the module units,they first need to know the final result of the assembly and which module units will assemble the target robot,How to connect the module units.This article first splits the robot configuration into a universal minimum unit configuration,then numbers the connection interface of the module unit,replaces the minimum unit configuration with the number,and then describes the specifications of the module unit in the minimum unit,using one line A vector describes a specific minimum unit,and a matrix describes a target robot composed of multiple minimum units.Aiming at the self-assembly process of the robot,this paper designs an ultrasonic detection principle to roughly detect the initial posture of the module unit,and then uses the laser positioning calibration principle to realize the precise positioning calibration of the module unit autonomous connection process.Finally,the selfassembly of the modular robot as a whole is divided into sequential assembly of individual module units.By planning the assembly process of each connection interface of each module unit,a subroutine library is established,and then the modular robot is configured according to the configuration The matrix is selected in this subroutine library,so as to realize the overall self-assembly process planning of the robot.Finally,the path planning during the module unit self-assembly process is studied,and the simulation software is used to verify the calculation,which proves the planning Correctness.