The Module Design And Self-Recovery Action Planning Of Resilient Robot

Robot has become one of the most important mechanical systems because of its various applications and interaction ability with human.An increasing number of robots are set to be able to work in complex environments,which increases the risk of failure.To prolong the life of robots,except improving the adaptive capacity in complex environments,the ability of a certain degree of self-recovery is also needed.The robot that can recover its original function after a partial damage is defined as resilient robot.This thesis has researched on the topics of module design,simulation analysis and self-recovery action planning of resilient robot.The main contents are as follows:(1)Design a new module of resilient robot based on Axiomatic Design Theory.Axiomatic Design Theory provides the systematic and scientific theoretical basis of design process of this thesis.This thesis uses Axiomatic Design Theory to analyze and design the module of resilient robot from two aspects,the recovering plans and working principles,and obtains design matrix,which is independent in function requirements.Based on this design matrix,the docking system,the driving system,the monitoring system,the controlling system,the powering system and the under-actuated function are detailed designed.3D printing is used to produce the module prototype of resilient robot.The experimental platform of resilient robotic system is set up,using PC as upper computer and Arduino Nano as lower computer.(2)Forward kinematic analysis and inverse kinematic analysis of a mechanical arm of resilient robot have been done based on D-H parameter and simulation has been done in the environment of MATLAB.D-H parameter is the standard method of linkage and joint modeling of robot.This thesis uses a 6-joint mechanical arm as an example to do forward kinematic analysis and inverse kinematic analysis after modeling with D-H parameter.Simulation of the 6-joint mechanical arm has been done to verify the design rationality of the module of resilient robot.(3)Recovery process of the resilient robot is planned based on dimension reduction strategy.In order to simplify the recovery process,the dimension of the topological structure of the resilient robot is reduced from 3 dimensions to 2 dimensions.Use resilient snake-like robot and humanoid robot as examples to plan the recovery action.Work out the detail recovering program of the resilient snake-like robot.