Modular self-reconfigurable robot and method for controlling deformation thereof

Abstract

The invention relates to a modular self-reconfigurable robot and a method for controlling the deformation of the modular self-reconfigurable robot. The modular self-reconfigurable robot is formed by connecting monomers and can be in a ''-'' configuration and a ''+'' configuration. The initial configuration of the modular self-reconfigurable robot is the ''-'' configuration and comprises a head module, a middle module and a tail module; when a deformation control command is received, the butting mechanisms of the head module, the tail module and the middle module separate, and the middle module rotates until the middle module is perpendicular to the head module and the tail module. The process for butting automatically comprises the steps of adjusting the initial relative angle, the relative angle deviation and the relative displacement deviation of the butted surfaces and locking the abutting mechanism. Therefore, the head module, the tail module and the middle module are finally abutted, the change of the modular self-reconfigurable robot from the ''-'' configuration to the ''+'' configuration, and the change from the ''+'' configuration to the ''-'' configuration can be realized. The monomers can be separated and butted easily and effectively, and the change of the ''-'' configuration and the ''+'' configuration of the modular self-reconfigurable robot between the can be realized.

Description

technical field [0001] The invention belongs to the technical field of robots, relates to the reconfiguration and deformation of a robot, and relates to a modular self-reconfiguration robot and a deformation control method thereof. Background technique [0002] Modular self-reconfigurable robots are composed of several unit modules with certain autonomy and perception capabilities. Each module has a unified mechanical and electrical interface, and can be independently docked and assembled into various conjoined configurations and can be converted to each other, so as to realize different motion and operation functions. The main characteristics of modular self-reconfigurable robots are self-reconfiguration and self-repair functions. Modular self-reconfiguration requires that the robot can switch between different configurations according to changes in the environment and tasks, so that it can effectively complete Some more complicated and difficult tasks. The "one" configur...

AI Technical Summary

Problems solved by technology

The PolyBot self-reconfigurable robot designed by the PaloAlto Research Center is a self-reconfigurable robot with a chain structure. During the deformation process of the robot, SMA shape memory alloy is used to achieve docking. SMA shape memory alloy consumes a lot of power, and the calculation analysis and control of the robot structure It is more difficult, and it is more difficult and costly to realize a large-scale self-reconfiguration task

Images