Design And Configuration Planning Of A Modular Chain-Type Reconfigurable Robot Based On Rolling Multistate

In recent years,in the field of robotics,modular reconfigurable robots have increasingly become the focus of research.Modular reconfigurable robots can adaptively change the configuration according to different environments and tasks.By adding or subtracting certain modules or recombining existing modules,it can quickly transform from the current configuration to another adaptable to the new environment.The configuration of the new task.Compared with traditional robots,reconfigurable modular robots have obvious advantages in robustness,adaptability,versatility,and economy.In this paper,a new modular and reconfigurable chain robot is designed based on rolling multi-stable state.The main tasks completed by the thesis are:(1)A regular hexagonal module that can realize rolling multi-stable states is designed.Two modules are connected to form a six-stable mechanism.The connection of multiple modules can achieve more steady states,and it can also be extended to other regular polygons.And through mechanical analysis,Adams simulation and experiment,analysis and verification of the mechanism's multi-stable characteristics.This mechanism is the basis for the structural design of modular robots.The design based on rolling multi-stable state can achieve 0-1control of the motion state between two modules,that is,the reconstruction process either succeeds or fails,and there is no intermediate state.(2)A single robot module is abstracted into a plane regular hexagon for configuration research,including configuration representation,isomorphism discrimination,configuration number enumeration,etc.;combined with the actual robot,a reconstruction algorithm with linear complexity is studied.The algorithm can calculate the reconstruction steps of any chain configuration with the same number of modules.And based on QT,a simulation software was developed to calculate the reconstruction process between configurations and draw animations,which not only intuitively express the reconstruction process,but also get rid of the limitation of the number of physical modules.(3)A rope drive scheme for robot reconstruction is designed,and its feasibility is verified through calculations and experiments.Unlike traditional modular robots,the number of drive motors in this solution is fixed and will not increase with the increase in the number of modules.When designing the robot,a regular hexagonal basic module was designed based on the rolling multi-stable mechanism,and a drive module used to change the rope orientation was designed.A chain robot can consist of multiple basic modules plus one drive module,and the drive module is on the chain.Walking changes the direction of the rope,and finally drives the rope to achieve configuration reconstruction.(4)Completed the processing of the robot basic module,drive module and rope drive device;realized the control circuit system used to control the work of the drive module;carried out the configuration reconstruction experiment of the chain robot composed of 6 regular hexagon modules,Which further verified the feasibility of the drive scheme.The main innovations of the research work in this thesis are as follows: design a rolling multi-stable mechanism as the structural basis of the robot,so that the robot's reconstruction process does not require precise control;propose a linearly complex method for calculating the reconstruction steps of different configurations Degree algorithm;The design and realization of a programmable rope drive method separates the drive module from the basic module.When the number of motors does not change,the number of variable configurations increases with the increase of the number of modules.