【摘要】 文章论述了自重构机器人的类型,国内外的发展情况,并提出了一种新型自重构模块。讨论并分析了设计模块机构阶段所遇到的问题,特别是离合器的机构设计,以及必须遵守的两种状态。为了使控制简单,采用开关量控制,把旋转面对接机构设计为差动连接,并对该模块机器人的运动形式和步态作了进一步解释。更多还原

【Abstract】 This paper discusses the types and developments of self-configurable robots in detail. Then, a novel self-reconfigurable module is proposed. We also analyze the problems met during the design phases, especially, the structure of the clutch and the two states that must be complied with. In order to make control easy, such as using on-off control, the connective parts in the rotational sides are designed to be a mechanical differential. At last, we further explain the motion forms and paces of the self-reconfigurable module.更多还原