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自主对接是实现机器人自重构的关键技术。基于新型自重构模块化机器人M2SBot的结构,设计了独特的正弦加速度槽凸轮式对接锁紧机构,可实现可靠连接。同时提出一种新的三维空间对接算法,将基于罗德里格矩阵的公共点法与爬山搜索算法相结合,扩大了两个待接面间空间偏移角的搜索范围。该算法利用红外线传感器计算两模块间的相对位姿偏差,通过逐步调整各个偏移量实现对接。最后分析了整个过程的对接策略。仿真结果表明,该锁紧机构和对接算法可以有效地实现模块间的对接。
Autonomous docking is to achieve the robot from the reconstruction of the key technologies. Based on the structure of the new self-reconfigurable M2SBot robot, a unique sinusoidal accelerating slot cam-type butt-locking mechanism is designed to realize reliable connection. At the same time, a new three-dimensional space docking algorithm is proposed, which combines the common point method based on Rodrigue’s matrix with the hill-climbing search algorithm, and enlarges the search range of the space offset angle between the two surfaces to be connected. The algorithm uses the infrared sensor to calculate the relative position and orientation deviation between the two modules, and adjusts each offset step by step to achieve docking. Finally, the analysis of the docking process of the entire process. Simulation results show that the locking mechanism and the docking algorithm can effectively achieve the docking between modules.