【作者】 陈宜建；

【导师】 王从庆；

【作者基本信息】 南京航空航天大学 ， 导航、制导与控制， 2007， 硕士

【摘要】 多指手作为机器人的执行器,实现在复杂环境下对物体抓取和操作,引起了人们的广大兴趣。本文在综合分析国内外模块化自重构机器人和多指手研究现状、发展水平的基础上,提出了模块化自重构多指手的概念,深入讨论和研究了模块化自重构多指手构形拓扑转换的智能算法,自组织变形方法,并实现了可视化仿真。首先,在分析典型模块化自重构机器人模块结构的基础上,构建正六面体、晶格型的模块模型,运用特征向量法对其进行描述。建立了模块化自重构多指手模型,给出了邻接矩阵描述法和特征向量矩阵描述法,并建立对应的数学模型。其次,描述了模块化自重构多指手构形的拓扑结构。针对构形拓扑转换进行了规划,并采用遗传模拟退火和蚁群算法进行优化。结果表明,构形拓扑转换的连接变化操作次数被有效地降低,提高了模块化自重构多指手的自重构效率。接着,结合模块的基本运动,采用基于全离散的、智能的变形规划方法,运用简单的纯逻辑的规则来产生分布式的控制算法,从而大大简化了变形的复杂性和变形步骤,实现了模块化自重构多指手的自组织变形。最后,利用VC++/OpenGL开发软件,实现了三维可视化仿真平台,形象地演示了模块化自重构多指手移动、翻越障碍和抓取物体的全过程。更多还原

【Abstract】 As an end-effector of a robot manipulator, the hand realizes grasping and dexterous manipulating in complex situation, which has attracted serious attentions in robot community. Based on the synthetic analysis of the state and development of modular self-reconfigurable robots and multi-fingered robot hands, a novel concept named the modular self-reconfigurable robot hand is presented.The intelligent algorithm of configuration topological transformation of modular self-reconfigurable robot hands, self-organizing metamorphosis schemes and realization of visual simulation have been analyzed.Firstly, based on the synthetic analysis of typical module of modular self-reconfigurable robots, cuboid and crystal models of modules are bulit. The models are described by symbolic vector algorithm, and the mathematics model is built. Models of modular self-reconfigurable robot hands are desicrbed by adjoin matrixes and symbolic vector matrixes.Secondly, configuration topologies of modular self-reconfigurable multi- fing -ered hands are described. Configuration topological transformation for modular self-reconfigurable robot hands is programmed. The topological transformation is optimized by Genetic Simulated Annealing and Ant Colony Algorithm. The results show that the connective variations, i.e. connections or disconnections in the self-reconfiguration are reduced, which to improve the efficiency of self-reco -nfiguration for modular self-reconfigurable robot hands.Thirdly, considering basic module motion rules, the distributed control schemes are built by the easy and logical rule, based on the full-discrete and intelligent metamorphic planning method. So, the metamorphic complexity and steps are reduced, and the self-organizing metamorphosis can be obtained.Finally, a visual simulation platform is developed by VC/OpenGL to demonstrate the moving, the climbing over obstructions and the grasping objects.更多还原