基于仿生行为的自重构软体机器人的结构及变形运动方法研究

项目名称： 基于仿生行为的自重构软体机器人的结构及变形运动方法研究

项目编号： No.51475300

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 费燕琼

作者单位： 上海交通大学

项目金额： 80万元

中文摘要： 基于仿生行为研究自重构软体机器人的结构及变形运动方法。分析设计自重构软体机器人的基本模块结构及可变形模块间的快速连接/分离接口；基于仿生行为分析模块的变形、翻滚运动机理，建立模块膨胀、收缩非线性动力学模型，提出三维空间模块间的动态映射关系式，描述模块间的动态局部交互行为及全局运行机制，提出基于电磁吸合的相邻软体模块间的自对接方法；利用群论枚举自重构软体机器人的可能运动状态，确定自重构软体机器人的全局蠕动行为模式；利用微分方程，提出基于任务信息流的多层分布式空间变形运动协调控制方法。实现基于任务、环境信息的自重构软体机器人基本模块的变形翻滚运动、相邻模块的自对接及自重构软体机器人的变形运动协调控制。建立基于仿生行为的自重构软体机器人的结构及变形运动方法研究的框架体系，拓宽固定构型刚体机器人的研究领域，为未来空间、海洋、军事及狭窄等不可预测环境及未知任务条件下的机械装置的应用提供技术支持。

中文关键词： 自重构机器人；软体机器人；模块；变形

英文摘要： Research on the structure and the morphing method of self-reconfigurable soft robots based on bionic behavior.The basic modules of the self-reconfigurable soft robot and quick connection/disconnection ports among the morphing modules are analyzed and designed.Based on bionic behavior the morphing rules and the rolling movement of each basic module are analyzed. The nonlinear dynamic models are established with the deflating and inflating modes of each module. In three dimensions, the dynamic incidence matrix are proposed.The dynamic local interactive actions and global motion rules among basic modules are described.Based on the electroadhesion technology, the self-docking method between two basic soft modules is proposed. The possible movement states of the self-reconfigurable soft robot are enumerated with group theory.The global wriggling movement modes of self-reconfigurable soft robots are determined.With differential equations,based on the information flowing, the multi-lay and distributed coordination morphing method is proposed.The rolling movement, the self-docking and the coordination morphing actions are performed.The theoretical framework of the research on the structure and the morphing method of self-reconfigurable soft robots based on bionic behavior is established to extend the research on robots in fixed and rigid configurations.Therefore, we can supply the technology for the application of rigid robots in unpredictable environments and unknown tasks,such as aerospace, sea, military systems,small gaps and so on.

英文关键词： self-reconfigurable robot;soft robot;module;morphing