吉林大学学报(工学版) ›› 2010, Vol. 40 ›› Issue (04): 1086-1090.

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Novel hook-type connecting mechanism for self-reconfigurable robot

TANG Shu-feng, ZHU Yan-he, ZHAO Jie, ZHANG Yu-hua   

  1. State Key Laboratory of Robotics and System,Harbin Institute of Technology|Harbin 150080, China
  • Received:2008-06-05 Online:2010-07-01 Published:2010-07-01

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Abstract:

The function and effect of the connecting mechanics in robot reconfiguration and locomotion were analyzed. Then a novel hook-type mechanics was designed for modular robot. The mechanism can provide dependable conjunction for adjacent modules in robot motion, and quick connection/ disconnection for adjacent modules in reconfiguration. The connecting mechanics was composed of micro DC-motor, active hooktype rod mechanism and passive connecting board, which possesses the function of alignment and self-locking, no motor torque requirement after docking and energy-saving. The connecting principle, condition and mechanics characteristics of the mechanism were studied. Experiments were carried out and results show that the designed mechanism is efficient and it can perform connection even with certain geometrical error.

Key words: automatic control technology, self-reconfigure robot, connecting mechanism, hook, self-lock

CLC Number: 

  • TP242.6
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