Research On Self-reconfiguration Strategy Of Self-Reconfigurable Robot Based On Spherical Unit Module

Modular self-reconfigurable robots are also called deformable robots,which are connected by several intelligent robots with connecting mechanisms.The configuration of self-reconfigurable robot changes with the position of intelligent robots in the whole system.This enables it to travel flexibly and quickly through dynamically unknown environments with strong adaptability.However,in a complex environment,any specific configuration cannot adapt to the environment.Self-reconfigurable robots need to constantly transform between several configurations to successfully complete the task.It is a difficult problem in the field of self-reconfigurable robots that how to transform modular self-reconfigurable robots from one configuration to another quickly and efficiently.Therefore,this paper takes the self-reconfigurable robot based on spherical unit module as the research object,and studies its self-reconfigurable strategy.Firstly,the structure and motion mode of the spherical unit module are analyzed,all the connection modes between the unit modules are enumerated,and the motion modes existing in various connection modes are pointed out.The graphical representation of spherical unit module is based on the point-line representation method,and the complex connection relationship between self-reconfigurable robots is visually represented by the topological diagram.Secondly,in order to solve the problems of high energy consumption and low efficiency in the configuration transformation process of self-reconfigurable robots,a self-reconfiguration strategy based on configuration matching is proposed.The central node module of self-reconfigurable robot configuration is determined based on the graphical configuration representation method of self-reconfigurable robot.Taking this module as the starting point,the connection information between the initial configuration and the target configuration is compared,and the common parts with the same connection modes between the two configurations are obtained.Combining with the limitation of the self-reconfigurable robot,the target configuration is reconfigured orderly from the inside out with the goal of minimizing energy consumption and the principle of breaking first and then connecting.Then,the reconfiguration path of spherical unit module in the process of self-reconfigurable robot reconfiguration is studied.The shortcomings of traditional rapidly-expanding random tree algorithm are analyzed and improved from two aspects of sampling point selection and growth step.At the same time,the redundant nodes in the generated path are deleted and optimized,so that the spherical unit module can carry out the reconfiguration movement with the optimal path.Finally,based on the experimental platform of MATLAB,two different configuration transform processes are studied by using configuration matching algorithm and improved reconfiguration path planning algorithm,and the purpose of improving reconfiguration efficiency is verified.