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Three-dimensional Construction and Omni-directional Rolling Analysis of a Novel Frame-like Lattice Modular Robot

Chinese Journal of Mechanical Engineering 2015年第4期28卷 691-701页

作者： DING Wan WU Jianxu YAO Yan'an School of Mechanical Electronic and Control Engineering Beijing Jiaotong University

Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube（PE-cube） is proposed. The three-dimensional（3D） expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-cube with three degrees of freedom（Do Fs） is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator（pneumatic cylinder） is directly adopted to control the PE-cube. Taking an eight PE-cube modules＇ construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-cube modules＇ construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-cube modules＇ construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-cube module, construction method, and locomotion analysis enrich the family of the la

关键词： modular robot pneumatic expandable cube pneumatic actuation omni-directional rolling binary control strategy

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