Design and Control of Reconfigurable Mobile Microrobot with Passive Universal Connector
ZHANG Dawei, LI Zhenbo, CHEN Jiapin
Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro/Nano Science and Technology, Shanghai Jiao Tong University, Shanghai 200240, China
张大伟, 李振波, 陈佳品. 基于被动万向连接的可重构微型移动机器人设计与控制[J]. 机器人, 2011, 33(6): 719-725..
ZHANG Dawei, LI Zhenbo, CHEN Jiapin. Design and Control of Reconfigurable Mobile Microrobot with Passive Universal Connector. ROBOT, 2011, 33(6): 719-725..
A reconfigurable mobile microrobot actuated by electromagnetic micromotors is presented.A flexible passive universal connector is designed.Multiple basic microrobots can be connected with each other manually to form a passive trailer with automatic disconnecting function,and their whole surveillance range can be enlarged by adopting the method of power and wireless communication relays.To reduce the tracking error of the passive trailer,relationship between the errors and the lengths of the front and back link rods of the passive connector is revealed by kinematics analysis,and the related kinematic equation and control method are derived.The experimental results demonstrate the feasibility of the concepts.
[1] Fukuda T,Nakagawa S.Approach to the dynamically reconfigurable robotic system[J]. Journal of Intelligent and Robotic Systems,1988,1(1):55-72.[2] Hirose S,Shirasu T,Fukushima E F,Proposal for cooperative robot "Gunryu" composed of autonomous segments[J]. Robotics and Autonomous Systems,1996,17(1/2):107-118.[3] Hirose S,Damoto R,Kawakami A.Study of super-mechanocolony(concept and basic experimental setup)[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2000:1664-1669.[4] Brown Jr.H B,Vande Weghe J M,Bererton C A,et al.Millibot trains for enhanced mobility[J]. IEEE/ASME Transactions on Mechatronics,2002,7(4):452-461.[5] Mondada F,Guignard A,Bonani M,et al.SWARM-BOT:From concept to implementation[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2003:1626-1631.[6] Zhang H X,Wang W,Deng Z C,et al.A novel reconfigurable robot for urban search and rescue[J]. International Journal of Advanced Robotic Systems,2006,3(4):359-366.[7] Liu J G,Ma S G,Wang Y C,et al.Network-based reconfiguration routes for a self-reconfigurable robot[J]. Science in China,Series F:Information Sciences,2008,51(10):1532-1546.[8] Zhong M,Guo W,Xu J A,et al.A mobile self-reconfigurable robot based on modularity[J]. High Technology Letters,2009,15(1):26-31.[9] Takeda M,Namura K,Nakamura K,et.al.Development of chain-type micromachine for inspection of outer tube surfaces(basic performance of the 1st prototype)[C]//13th Annual International Conference on Micro Electro Mechanical Systems.Piscataway,NJ,USA:IEEE,2000:805-810.[10] 陈卫东.微型移动机器人集群系统研究进展[J]. 上海电机学院学报,2007,10(2):81-85.Chen W D.The state of the art in swarm systems of micro mobile robots[J]. Journal of Shanghai Dianji University,2007,10(2):81-85.[11] Li Z B,Zhang C.Genetic algorithms for the optimal design of electromagnetic micro-motors[J]. High Technology Letters,2000,6(1):50-53.[12] Ostergaard E H,Kassow K,Beck R,et al.Design of the ATRON lattice-based self-reconfigurable robot[J]. Autonomous Robots,2006,21(2):165-183.[13] Nakamura Y,Ezaki H,Tan Y,et.al.Design of steering mechanism and control of nonholonomic trailer systems[J]. IEEE Transactions on Robotics and Automation,2001,17(3):367-374.[14] 谭跃刚,刘明尧,左克群.基于操舵角的轮式拖车系统及其轨迹跟踪运动的研究[J]. 中国机械工程,2005,16(2):107-111.Tan Y G,Liu M Y,Zuo K Q.Research on wheels trailer system and trajectory tracking motion based on steering angle[J]. China Mechanical Engineering,2005,16(2):107-111.
