) 上海交通大学 机器人研究所，上海 200240
收稿日期:2020-01-03出版日期:2021-02-01发布日期:2021-03-03通讯作者:费燕琼E-mail:fyq@sjtu.edu.cn作者简介:刘佳鹏(1996-)，男，福建省泉州市人，硕士生，研究方向为软体机器人设计．基金资助:国家自然科学基金资助项目(51875335)Self-Reconfiguration Sequence of Lattice Modular Soft Robots
LIU Jiapeng, WANG Jiangbei, DING Ye, FEI Yanqiong() Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China
Received:2020-01-03Online:2021-02-01Published:2021-03-03Contact:FEI Yanqiong E-mail:fyq@sjtu.edu.cn摘要/Abstract
摘要： 设计了一种基于膨胀-收缩运动规则的晶格型自重构模块化软体机器人．机器人由多个软体模块组成，每个软体模块由呈正六面体构型的硅胶主体和主从对接面组成．软体模块内部的凸起设计使其具有良好的膨胀性能，主从对接面是由与硅胶主体螺纹连接的铁盘、吸盘式电磁铁组成．基于软体模块体积变化与内部压强的关系式，对软体模块的充气膨胀进行分析，建立了充气气压与软体模块膨胀量之间的映射关系，获得相邻两软体模块连接所需的充气气压．每个软体模块在工作气压为30 kPa的情况下能够膨胀1.5倍，使用电磁铁连接及软体模块的膨胀-收缩运动规则实现相邻两软体模块的对接与分离，多个相邻软体模块的依次对接和分离可以实现模块化软体机器人的自重构．通过软体机器人自重构实验验证机器人自重构的可行性．
关键词: 软体机器人, 模块化, 自重构序列
Abstract: A lattice self-reconfigurable modular soft robot based on the expansion-contraction motion rule is designed, which is composed of several soft modules, each of which is composed of a silica gel main body with positive hexahedron configuration and a master-slave docking surface. The internal bulged design makes it have a good expansion performance. The master-slave docking surface is composed of an iron disk and a suction disk type electromagnet connected with the silica gel main body by thread composition. Based on the relationship between the volume change of the soft module and the internal pressure, the expansion of the soft module is analyzed. The mapping relationship between the inflation pressure and the expansion of soft module is established. Besides, the inflation pressure required for the connection of adjacent two soft modules is obtained. Each soft module can expand 1.5 times under the working pressure of 30 kPa, and the docking and separation of two adjacent soft modules are realized by using the electromagnet connection and the expansion-contraction motion rules of soft modules. The self-reconfiguration of the modular soft robot can be realized by the sequential docking and separation of multiple adjacent modules. The feasibility of self-reconfiguration of soft robot is verified by the self-reconfiguration experiment.
Key words: soft robot, modularization, self-reconfiguration sequence
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