智能系统学报Issue(4)：292-298,7.DOI:10.3969/j.issn.1673-4785.201212053
一种模块化可重构机器人系统的研制
Development of a modular reconfigurable robot system
摘要
Abstract
To obtain both high reconfiguration ability and manipulating performance for applications in education and research areas, a modular reconfigurable robot experimental system ( MRRES) was developed. First, a module division and reconfiguration method was proposed, next a module library was established, and then a series of joint modules with integrated transmission, control, and sensing systems were developed. Based on Open GL and VC++, the software MRR-SIM incorporating the functions of modeling, simulation, and motion control was developed. A task-and-module-library based illustrative example was presented, and finally a robot was tested. The results of the experiments show that the proposed division method and the design of the MRRES are appropriate, the high recon-figuration ability and high manipulating performance were achieved, and the system was applicable to the applica-tions in education and research settings.关键词
模块化可重构机器人/模块划分及重构/关节模块/应用软件/设计实例Key words
modular reconfigurable robot/module division and reconfiguration/joint module/application software/design example分类
信息技术与安全科学引用本文复制引用
潘新安,王洪光,姜勇,李正,高文斌..一种模块化可重构机器人系统的研制[J].智能系统学报,2013,(4):292-298,7.基金项目
国家“863”计划资助项目（2012AA041401）；国家自然科学基金资助项目（60905048）． （）
