| 摘要： |
Reconfigurable robots with independent locomotion and manipulation ability (RRLMA) refer to the reconfigurable robots capable of locomoting and performing manipulation tasks either individually or in a group. It takes great effort to derive the dynamic model manually because frequent reconfiguration of the group is needed to adapt to different environments, for which the dynamic model has to be re-established accordingly. This paper presents a general dynamic formulation for RRLMA. The dynamic model of an independent module is first developed in the Lagrangian framework using techniques of local Lie algebra coordinates, which is free of singularity and shows the structure of the dynamic coupling explicitly. Then, inspiration from multifingered grasp is drawn to establish the constraint equations that describe the interactions between modules, while the general joint model is used to describe a variety of connections. The closed-form dynamic model has broad generality to deal with configurations with arbitrary topologies, and also allows automatic generation. Moreover, the structure of the dynamics allows the use of open-chain solutions to facilitate simulation. The validity of the dynamic model is verified by a simulation. Case study shows the effectiveness of the dynamic model in configuration optimization. |
