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.
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