A Reconfigurable Mobile Robots System Based on Parallel Mechanism

摘要

The modular reconfiguration robot has the ability of changing its configuration which makes it more suitable for complex environments. In contrast to conventional theoretical research, the project introduced in this paper successfully completes the following innovative work. a) It proposes a robot named JL-I which is based on a modular reconfiguration concept. The advantages and the characteristics of the mechanism are analysed. The robot features a docking mechanism with which the modules can connect or disconnect flexibly. The active spherical joints formed by serial and parallel mechanisms endow the robot with the ability of changing shapes in three dimensions. b) A kinematics model of reconfiguration between two modules is given. The relationship of the world coordinate and the reference joint coordinate is concluded. Furthermore, the movements can be anticipated according to the joints' driving outputs. The analysed results are important for system design and the design of the controlling mechanism for the robot. c) Experimental tests have shown that the JL-I can implement a series of various locomotion capabilities such as 90? recovery, 180? recovery, and crossing steps. This implies the mechanical feasibility, the rationality of the analysis and the outstanding movement adaptability of the robot. The future research will focus on the following aspects. a) Developing a new docking mechanism which tolerates larger offset in rugged terrain and can be used as a simple manipulator; b) Developing a more reliable track modules with shock absorption function; c) Developing a new mechanism which can actively undock a disable robot module.