【摘要】 设计制造了一种网格型的自重构机械系统的基本模块外型,并给出了传感器的布置图:传感器放在模块中心轴线的一侧,发射器和接收器于水平线对称分布,且与中心点的连线互相垂直。根据该自重构模块化系统的特点,提出了一种简单的模块间通讯问题的解决方式:根据传感器信息,计算模块对应连接面上传感器感知到的光强来测出这2个连接面之间的相对位姿关系,通过分析可知,该方法可修正两相邻模块的相对位姿误差,从而实现模块间的对接。更多还原

【Abstract】 The basic module configuration and the layout of sensors in a lattice self-reconfiguration mechanical system are presented.According to the features of the system,a method which is used to simply solve the communication problem among modules is proposed.With the information of sensors,the relative position of the two connection sides can be obtained by calculating the IR intensity of each side,and the relative position error can also be adjusted to realize the docking between neighbor modules.更多还原