刚-柔-软体变形机器人的模块化结构及自修复方法研究

Research on the modular structure and the self-repairing method of rigid-flexible-soft deformable robots. The bilayer differential driven structure of each soft module in rigid-flexible-soft deformable robots and a closed-loop control system based on sensors’ information are analyzed and designed. The deformation actuation rules of each soft module are analyzed. The nonlinear dynamic models are established with the deflation, inflation and differential driven multidirectional action of each soft module. The dynamic compliant connection, local interactive actions and modular multi-configuration models among soft modules are described. For multi-configuration of robots, the dynamic incidence matrix are proposed and the global behavior patterns of rigid-flexible-soft deformable robots are determined. A distributed self-repairing algorithm based on the deformation characteristics of the fault module is presented and the motion path is optimized. Based on multiple information, the deformation motion, reconfigurable configuration, self-repairing action among multiple soft modules are performed. The theoretical framework of the research on the modular structure and the self-repairing method of rigid-flexible-soft deformable robots is established to extend the research on robots in fixed and rigid configurations. Therefore, we can supply the technology for the application of rigid robots in unpredictable environments, such as aerospace, sea, military systems, medicine and so on.

研究刚-柔-软体变形机器人的模块化结构及自修复方法。分析设计刚-柔-软体变形机器人单个柔软模块的双层差动驱动式结构及基于传感器信息的闭环控制系统；分析各柔软模块的变形驱动机理，建立各柔软模块膨胀、收缩、差动驱动多方位动作的非线性动力学模型；描述各柔软模块间的动态柔顺连接、局部交互行为及模块重组变形的多构型模型，提出多构型机器人模块之间的动态映射位置关联矩阵，确定刚-柔-软体变形机器人的全局行为模式；提出三维空间基于故障模块变形特性的刚-柔-软体变形机器人的分布式自修复方法，优化修复过程中的运动路径。实现基于多任务信息的刚-柔-软体变形机器人各柔软模块的变形驱动、模块间的构型重组、故障模块自我修复功能。建立刚-柔-软体变形机器人模块化结构及自修复方法研究的框架体系，拓宽固定构型刚体机器人的研究领域，为未来空间、海洋、军事及医学等不可预测环境及未知任务条件下的机械装置的应用提供技术支持。

刚-柔-软体变形机器人适用于多种环境及任务，它们比金属外框架的刚体机器人具有更大的优势，具有更佳的灵敏度、易变形性、柔顺性、可交互性及多功能性。本项目分析设计并开发了一类刚-柔-软体变形机器人及基于视觉反馈的闭环控制系统，该刚-柔-软体变形机器人主要由具有双层差动驱动式结构（气室内腔高度12mm，气室内腔宽度20mm）的多个柔软模块组成；依据充气时间与弯曲角度之间的关系描述复杂动态条件下各柔软模块的变形驱动机理，建立各柔软模块膨胀、收缩、差动驱动多方位动作的非线性变形力学模型；描述模块重组多构型变形机器人相邻柔软模块间的动态柔顺连接、局部交互行为，建立各柔软模块间的动态位置关系、运动特性、协作行为及运动传递过程模型，实现刚-柔-软体变形机器人的直行、转弯（在PVC塑料板上转弯速度为0.57°/s）、爬坡（在KT板上可以达到的最大爬坡角度为51.2°）等全局行为模式；提出基于故障模块及连接元件的修复策略，由备用柔软模块代替故障模块，实现了故障模块的修复。实现基于直行、转弯、爬坡等多任务信息的刚-柔-软体变形机器人各柔软模块的变形驱动、多柔软模块间的构型重组、故障模块自我修复功能。建立刚-柔-软体变形机器人模块化结构及自修复方法研究的框架体系，拓宽固定构型刚体机器人的研究领域，为未来空间、海洋、军事及医学等不可预测环境及未知任务条件下的机械装置的应用提供技术支持。