Modular Robotic Design and Reconfiguring Path Planning

被引：5
|
作者：
Dai, Ye [1 ]
Xiang, Chao-Fang [1 ]
Liu, Zhao-Xu [1 ]
Li, Zhao-Long [1 ]
Qu, Wen-Yin [1 ]
Zhang, Qi-Hao [1 ]
机构：
[1] Harbin Univ Sci & Technol, Minist Educ, Key Lab Adv Mfg Intelligent Technol, Harbin 150080, Peoples R China
来源：
APPLIED SCIENCES-BASEL | 2022年 / 12卷 / 02期
基金：
黑龙江省自然科学基金;
关键词：
modular robot; configuration design; kinematic analysis; self-reconfiguration platform; path planning; optimized ant colony algorithm; SYSTEM;
D O I：
10.3390/app12020723
中图分类号：
O6 [化学];
学科分类号：
0703 ;
摘要：
The modular robot is becoming a prevalent research object in robots because of its unique configuration advantages and performance characteristics. It is possible to form robot configurations with different functions by reconfiguring functional modules. This paper focuses on studying the modular robot's configuration design and self-reconfiguration process and hopes to realize the industrial application of the modular self-reconfiguration robot to a certain extent. We design robotic configurations with different DOF based on the cellular module of the hexahedron and perform the kinematic analysis of the structure. An innovative design of a modular reconfiguration platform for conformational reorganization is presented, and the collaborative path planning between different modules in the reconfiguration platform is investigated. We propose an optimized ant colony algorithm for reconfiguration path planning and verify the superiority and rationality of this algorithm compared with the traditional ant colony algorithm for platform path planning through simulation experiments.
引用
收藏
页数：22
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