链式可重构模块化机器人变形机理与实现

设计了一种手动可重构、自动变形的新型链式模块化机器人机构，它可以通过结构重构和自动变形来改变自身的构形以适应非结构环境中运动和作业的要求。单个标准模块由模块本体、连接臂和偏置关节等组成。偏置关节避免了变形时模块间的运动干涉，扩大了机器人模块间的相对运动空间。设计了一台三模块变形机器人样机，并对该样机进行了由直线形态、三角形态到并排形态的变形实验，此外还对变形机器人不同构形的运动性能进行了实验分析。

Transmutation Mechanisms and Its Realization of a Chain-type Reconfigurable Modular Robot

A manually reconfigurable and transmutable modular robot was developed, which could change its shape to adapt to an environment and a task if needed. The transmutable modular robot has a novel chain-type modularized structure. Like a common moudula, each module of the robot consists of a driving body component, a link arm and offset joints. The offset joints adopted in the novel mechanism were to improve the relative motion space between the adjacent modules. A transmutable robot with three modulars was designed in this work. The metamorphic experiments and the unstructured environment experiments indicated its high flexibility and mobility of the robot.