Regular-tetrahedron-based self-reconfigurable robot unit module mechanism

Abstract

A regular-tetrahedron-based self-reconfigurable robot unit module mechanism comprises four butt joint face mechanisms which are fixedly connected, wherein at least one of the four butt joint face mechanisms is a driving butt joint face mechanism; at least one of the four butt joint face mechanisms is a driven butt joint face mechanism; the driving butt joint face mechanisms are provided with movable butt joint devices; the driven butt joint face mechanisms are provided with rotary devices making contact with the movable butt joint devices. The invention further relates to a self-reconfigurable robot. The self-reconfigurable robot comprises two or more unit module mechanisms, wherein the unit module mechanisms are connected through the movable butt joint devices and relatively rotate through the rotary devices. Each unit can provide one or two degrees of freedom, the angle is accurately controlled through a steering engine, multiple kinds of combinations can be achieved, and flexibility and structural efficiency of a robot system are improved.

Description

technical field [0001] The invention relates to a technology in the field of robots, in particular to a unit module mechanism of a self-reconfiguring robot based on a regular tetrahedron. Background technique [0002] A self-reconfigurable robot is a robot system composed of multiple identical modules through connections. Different configurations are formed through different connection methods to meet the needs of different environments and tasks, or to replace damaged modules, so that The robot was able to continue working normally. According to the topological structure of self-reconfigurable robots, self-reconfigurable robots can be divided into three types: array type, series type, and hybrid type. The characteristic of the array robot system is that all modules are in a regular grid structure, which is similar to the orientation relationship of atoms in a crystal, such as the grid self-reconfiguration robot developed by Fei Yanqiong of Shanghai Jiaotong University; the...

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Problems solved by technology

[0005] The present invention aims at the problem that the existing self-reconfigurable robot is limited by the complex configuration and movement, and proposes a unit module mechanism of the self-reconfigurable robot based on a regular tetrahedron, wherein each unit can provide one or two With three degrees of freedom, various combinations can be realized through the precise control of the angle of the steering gear, which improves the flexibility and structural efficiency of the robot system, and can realize many deformation forms and motion modes that cannot be realized by existing self-reconfigurable robots.

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