| A resilient robot can recover its original function after a partial damage.The resilience of robot refers to the ability to recover its original function after a partial damage by changing its structure without partial assistance.The resilience of the robot can reduce the possibility of system failure and improve the survivability of the robot system in extremely harsh and closed environments.This thesis is devoted to the development of a novel under-actuated resilient robot,the main contents are as follows:(1)Under the guidance of axiomatic design theory,a novel under-actuated resilient robot named ReBot is developed.According to the axiomatic design analysis of resilient robot,the mechanical system,control system,monitoring system,drive system and communication system of the ReBot robot module are respectively designed.Besides,3D printing technology is used to make the module parts.(2)The autonomous docking technology between the resilience robots is studied,and an autonomous docking method based on infrared sensor technology is obtained.The distance model of the infrared sensor is obtained through experiments,and then the calculation method of the offset information between the robot modules was analyzed and verified.A software for resilient robot is also designed.(3)The kinematics analysis of the robot system composed of three ReBot modules is carried out based on D-H parameter,and the pose matrix of the end module and the kinematic inverse solution for the given target pose matrix were obtained.The kinematics simulation and trajectory planning simulation of the robot were also carried out using MATLAB software.(4)The performance of a single module and the autonomous docking capability of the robot system are verified.This thesis completed the design and manufacture of a novel of under-actuated and modular resilient robot.The robot can realize self-repair after partial damage of the system,reduce the failure rate of the robot,and improve the survivability of the robot. |
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