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一种模块化可重构机器人系统的研制
Alternative TitleDevelopment of a modular reconfigurable robot system
潘新安; 王洪光; 姜勇; 李正; 高文斌
Department空间自动化技术研究室
Source Publication智能系统学报
ISSN1673-4785
2013
Volume8Issue:4Pages:1-6
Indexed ByCSCD
CSCD IDCSCD:4935405
Contribution Rank1
Funding Organization国家“863”计划资助项目(2012AA041401);国家自然科学基金资助项目(60905048)
Keyword模块化可重构机器人 模块划分及重构 关节模块 应用软件 设计实例
Abstract面向教育和科研领域的机器人应用,为使机器人兼有较好的重构能力与操作性能,研制了一种模块化可重构机器人系统MRRES。提出了一种机器人模块划分及重构的方法,构建出机器人模块库,研制出集成传动、控制及传感于一体的系列化关节模块。基于OpenGL和VC++开发了具有建模、仿真和运动控制功能的应用软件MRR-SIM。给出了一个基于任务和模块库的机器人设计实例,进行了实验测试。实验结果表明,MRRES系统模块划分和设计合理,机器人在保证重构能力的同时具有较好的操作性能,可应用于教育和科研等领域。
Other AbstractTo aim at possessing both high reconfiguration ability and manipulating performance for applications in education and research areas, The MRRES (Modular Reconfigurable Robot Experimental System) was developed. A module division and reconfiguration method was proposed, a module library was established, and then a series of joint modules with integrated transmission, control, and sensing systems were developed. Based on Open GL and VC++, the software MRR-SIM incorporating the functions of modeling, simulation, and motion control was developed. A task-and-module-library based illustrative example was presented, and finally a robot was tested. The results of the experiments show that the proposed division method and the design of the MRRES are appropriate, the high reconfiguration ability and high manipulating performance are achieved, and the system is applicable to the applications in education and research.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/12446
Collection空间自动化技术研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
潘新安,王洪光,姜勇,等. 一种模块化可重构机器人系统的研制[J]. 智能系统学报,2013,8(4):1-6.
APA 潘新安,王洪光,姜勇,李正,&高文斌.(2013).一种模块化可重构机器人系统的研制.智能系统学报,8(4),1-6.
MLA 潘新安,et al."一种模块化可重构机器人系统的研制".智能系统学报 8.4(2013):1-6.
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