A modular self-reconfigurable mobile microrobot system has been designed which has both assembly and disassembly modes of execution in order to enlarge the scope of individual microrobots' detection activity. In the assembly mode every module can be the actuated unit to pull others for further detection area,while in the disassembly mode every module can also autonomously detach to be the wireless communication node for longer distance. On this basis,we have presented an innovative autonomous docking method which uses a navigation system consisting of one infrared sensor and four infrared transmitters on each module microrobot. At last,we have carried out docking experiments between two microrobots. The results prove high efficiency and reliability of our docking method.%设计了一种模块化的自重构移动微机器人系统.系统中的每个微机器人模块既可作为动力单元,拖动其它模块进行更远距离的探测,也可自动脱离成为无线通信节点,拓展整个系统的通信距离.通过这2种方式扩展了单个微型移动机器人的探测范围.研制了由1个红外接收器和4个红外发射器组成的导引系统,并基于其设计了一种新型的自动对接方法.最后进行了微机器人之间的对接实验,验证了该方法具有很高的效率和可靠性.
展开▼
