模塊化可重構(gòu)機(jī)器人由若干個(gè)相同的機(jī)器人模塊組合裝配而成，能夠重構(gòu)成不同的幾何形態(tài)和結(jié)構(gòu)，從而適應(yīng)不同的作業(yè)任務(wù)要求。本論文主要對(duì)樹狀拓?fù)浣Y(jié)構(gòu)的模塊化機(jī)器人的重構(gòu)規(guī)劃問(wèn)題進(jìn)行了研究，定義了構(gòu)型重構(gòu)的基本概念，提出了分支重構(gòu)規(guī)劃算法。這類模塊化可重構(gòu)機(jī)器人可以用樹狀拓?fù)浣Y(jié)構(gòu)圖來(lái)描述。機(jī)器人的拓?fù)浣Y(jié)構(gòu)從自由樹轉(zhuǎn)化為有根樹，然后分解為若干個(gè)分支結(jié)構(gòu)，并按一定順序排列，通過(guò)對(duì)各個(gè)分支結(jié)構(gòu)的逐步比較和操作，完成重構(gòu)過(guò)程。最后選定模塊數(shù)目，進(jìn)行了重構(gòu)規(guī)劃過(guò)程的仿真計(jì)算。結(jié)果表明，文中所述算法對(duì)于樹狀拓?fù)浣Y(jié)構(gòu)的模塊化機(jī)器人的重構(gòu)規(guī)劃問(wèn)題是有效的。
關(guān)鍵詞: 機(jī)器人; 重構(gòu)規(guī)劃; 可重構(gòu); 模塊化; 拓?fù)浣Y(jié)構(gòu)
Topological Reconfiguration Planning for Modular Robots ZHAO Guangtao，ZHENG Haojun (Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China) Abstract: Modular reconfigurable robots consist of large number of identical modules that possess the ability to adapt their shape to suit multiple, changing tasks. This paper examines the reconfiguration planning problem of tree-like topological modular robots and defines some of the general nomenclature. And then presents a new planning algorithm for reconfiguration that allows a robot to efficiently transform between two arbitrary tree-like topological configurations. The robot topology can be transformed in a rooted tree from a free tree. The rooted trees are decomposed into several substructures arranged in some order. Reconfiguration planning will be accomplished by the stepwise comparison and operation between the substructures. Simulation and computation results show that this algorithm is efficient for tree-like topological modular reconfigurable robots.
Key words: robot; reconfiguration planning; reconfigurable; modular; topological structure