模块化机器人的构型拓扑方法研究

摘要

针对EMERGE模块化机器人的结构特点和构型特性,提出了一种准确描述模块化机器人构型关系的构型拓扑描述方法.首先基于模块的自由度和外型特征,得到模块的运动特性,确立了构型组建过程中单个模块的状态表;然后对构型组建过程中相邻模块之间存在的不同连接方式及连接关系进行分析,提出了一种以二进制数为基础的状态表达法,并根据机器人的模块状态和连接状态建立了可以完整描述机器人构型的拓扑表达矩阵.最后,以EMERGE模块所组建的蛇形构型和双足构型机器人为算例,进行了拓扑描述实验.结果表明,该拓扑描述方法表述清晰,易于理解,简单易用,能够为后续模块化机器人的自重构策略研究提供理论基础.%In view of the structural and configuration characteristics of EMERGE modular robots, a topology description method is proposed to accurately describe the configuration of modular robots. First of all, based on the of freedom degree of the structure of the module, the motion characteristics of the module are ob-tained, and the status table of the single module in the configuration process is established. In the configura-tion process, there are various connection modes and connection relationships between the modules. Then a new expression of connection states based on binary numbers is proposed. According to these two essential elements in the description of robot configuration, a topology expression matrix that can completely describe the robot configuration is established. Finally, using the serpentine and biped robot constructed by EMERGE module as an example, to try out the topology description. The practical application shows that the method of topology description is clear, simple and easy to use and understand, and can provide the basis for config-uration description in the subsequent research of modular robots.