论文部分内容阅读
A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules,each of which consists of a master module and a slave module in the shape of triangular prism. There are four connection ports on each basic module. For the master module there are two holes on each connection port,and for the slave one there are two pegs on each connection. The docking process between two neighboring basic modules is analyzed with a peg-in-hole mechanical structure. A small motion’s method is presented and the contact forces are derived. According to the force/moment,the pose of a motion module should be adjusted to make two neighboring modules align and finish the docking process.Finally,a simulation of 3 basic modules is shown to finish the morphing and docking process effectively. The system can finish the morphing task from the line shape to the hexagon shape.
A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules, each of which consists of a master module and a slave module in the shape of a triangular prism. There are four connection ports on each basic module. For the master module there are two holes on each connection port, and for the slave one there are two pegs on each connection. The docking process between two neighboring basic modules is analyzed with a peg- in-hole mechanical structure. A small motion’s method is presented and the contact forces are derived. According to the force / moment, the pose of a motion module should be adjusted to make two neighboring modules align and finish the docking process. simulation of 3 basic modules is shown finish finish morphing and docking process effectively. The system can finish the morphing task from the line shape to the hexagon shape.