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针对大规模晶格式自重构机器人系统整体难以运动的问题,提出了通过局部晶格畸变实现晶格式系统整体运动的方法.给出了一种晶格畸变的规则,并根据此规则设计了一种模块结构,用离散置换群对此模块的重构运动特征进行了分析.利用由6个模块组成的2个晶格进行了畸变硬件实验,验证了这种结构模块组成的晶格可以实现晶格畸变.基于Vortex+OSG的高保真虚拟仿真平台,通过52个模块组成的晶格式机器人系统进行了蛇形运动的计算机仿真,结果证明了局部晶格畸变产生全局运动方法的有效性.
Aiming at the problem that the large-scale crystal self-reconfigurable robotic system is difficult to move, a method of global motion of crystal lattice system by local lattice distortion is proposed. A lattice distortion rule is given and a This paper analyzes the reconstruction motion characteristics of this module by discrete permutation group.The experiment of distortion hardware is done by using 2 lattices composed of 6 modules and it is verified that the crystal lattice of this structure module can realize the crystal Based on the Vortex + OSG-based high-fidelity virtual simulation platform, a computer simulation of the serpentine motion is carried out by a 52-module crystal robot system. The results show that the local lattice distortion produces the global motion method effectively.