Design of a Chain-type Self-reconfigurable Robots
As for military reconnaissance, disaster relief applications such as stairs, stair type of obstacle, the paper propose the use of chain -type self-reconfigurable robots, overally plan the function modules of the robot, finish the design and making of the robot’s mechanical system and control system and the corresponding performance testing. The.test results show that the design is scientific and reasonable and meet the application requirements. Innovation in this article include: enhancing the use of harmonic reducer, realizing a large reduction ratio and high output torque in a smaller space; using a number of highly integrated controller chip in the control system ‘s functional modules to separate the task between scheduling and implementation. Embeding microcontroller is mainly responsible for scheduling management, and specific implementation can be finished by the lower control chip.This can greatly reduce the burden on microcontroller, let the microcontroller to have more time to respond and deal with real-time event, and so that the embeding control system has good performance of real-time, and it is helpful to achieving the intelligent control of the self-reconfigurable robots team.
self-reconfigurable robots design measurement
Yaojunwu Zhanglinxian
College of Mechanical and Electrical Engineering Huangshi institute of technology Huangshi ,Hubei,Ch College of Mechanical and Electrical Engineering Huangshi institute of technology Huangshi,Hubei,Chi
国际会议
浙江义乌
英文
90-95
2010-11-17（万方平台首次上网日期，不代表论文的发表时间）