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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Tristate Rigid Reversible and Non-Back-Drivable Active Docking Mechanism for Modular Robotics
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A Tristate Rigid Reversible and Non-Back-Drivable Active Docking Mechanism for Modular Robotics

机译：模块化机器人的三态刚性可逆和不可逆驱动主动对接机制

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摘要

This paper proposes a new active bonding mechanism that achieves rigid, reversible, and nonback-drivable coupling between modular mobile robots in a chain formation. The first merit of this interface lies in its ability to operate in three independent modes. In the drive mode, the motor torque is routed to drive the module. In the clamp mode, the motor torque is redirected toward an active joint that enables one module to rotate relative to its neighbors in the formation. In the neutral mode, the motor's rotation achieves alignment between the interface's components prior to the initiation of the drive and clamp modes. The second merit stems from the dual-rod slider rocker (DRSR) mechanism, which toggles between the interface's three modes of operation. The design details of the interface are presented, as well as the optimal kinematic synthesis and dynamic analysis of the DRSR mechanism. Simulation and experimental results validate the DRSR's unique kinematics, as well as the rigidity and the three operation modes of the docking interface.
机译：本文提出了一种新的主​​动结合机制，该机制可以在模块化移动机器人之间形成链状结构，从而实现刚性，可逆和不可逆驱动的耦合。该接口的第一个优点在于它可以在三种独立模式下运行。在驱动模式下，将传递电动机转矩以驱动模块。在夹紧模式下，电动机扭矩被重新导向到活动关节，该关节使一个模块能够相对于地层中的相邻模块旋转。在空档模式下，在启动驱动模式和夹紧模式之前，电动机的旋转可实现界面组件之间的对齐。第二个优点来自双杆滑块摇杆（DRSR）机制，该机制可在界面的三种操作模式之间切换。介绍了接口的设计细节，以及DRSR机制的最佳运动学综合和动态分析。仿真和实验结果验证了DRSR独特的运动学，对接界面的刚性和三种操作模式。

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