面向空间多任务的自重构模块化机器人形态设计与性态分析

doi:10.3901/JME.2025.21.152

机械工程学报 ›› 2025, Vol. 61 ›› Issue (21): 152-167.doi: 10.3901/JME.2025.21.152

• 特邀专栏：纪念张启先院士诞辰 100 周年 • 上一篇

扫码分享

面向空间多任务的自重构模块化机器人形态设计与性态分析

安小康¹, 贾庆轩¹, 陈钢¹, 刘育强², 刘华伟²

1. 北京邮电大学智能工程与自动化学院北京 100876;
2. 北京空间飞行器总体设计部北京 100094

收稿日期:2025-03-31 修回日期:2025-07-22 发布日期:2025-12-27
作者简介:安小康，男，1995年出生，博士研究生。主要研究方向为空间机器人、模块化机器人设计与控制。E-mail：xiaokangan@bupt.edu.cn
贾庆轩，男，1964年出生，博士，教授，博士研究生导师。主要研究方向为机器人感知与控制、多机协同与特种机器人技术。E-mail：qingxuan@bupt.edu.cn
陈钢(通信作者)，男，1982年出生，博士，教授，博士研究生导师。主要研究方向为空间机器人、运动规划与控制。E-mail：buptcg@163.com
刘育强，男，1985年出生，博士，研究员。主要研究方向为航天器总体技术。E-mail：echo33151223@sina.com.cn
刘华伟，女，1987年出生，博士，高级工程师。主要研究方向为航天器总体技术。E-mail：lhw5646653@126.com
基金资助:
国家自然科学基金(62173044)和北京邮电大学优秀博士生创新基金(CX20243079)资助项目。

Morphological Design and Performance Analysis of a Self-reconfigurable Modular Robot for Multi-task Space Applications

AN Xiaokang¹, JIA Qingxuan¹, CHEN Gang¹, LIU Yuqiang², LIU Huawei²

1. School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunication, Beijing 100876;
2. Beijing Institute of Spacecraft System Engineering, Beijing 100094

Received:2025-03-31 Revised:2025-07-22 Published:2025-12-27

摘要/Abstract

摘要： 模块化机器人的设计与应用是应对未来空间多任务的重要手段之一，而基础模块单元的形态又直接影响着模块化机器人任务适应性。面向从空间多任务需求到模块单元形态间的非线性映射难题，提出一种面向空间多任务的自重构模块化机器人形态设计与性态分析方法。首先，通过图论逆向映射并制定映射规则，构建了两类基础模块单元基础形态，引入体自由度以增强接口间姿态调节能力，并表征了形态参量。其次采用改进的自适应差分进化算法，以外形和体自由度夹角为优化变量，构建包含应力分布均匀性、运动灵活性及工作空间等性能的评价指标，优化评估并获得最优形态参数，即外观为球形、体自由度夹角为45°。然后分析两类模块单元的工作空间、运动灵活性及各向同性、外壳应力应变等性态在不同运动传递链路中的表达效应，证明了形态设计结果的优越性。最后，以桁架装配任务为例开展仿真分析，结果表明由模块单元组成的模块化机器人可自主重构为单臂到多分支等构型，可连续完成桁架抓取、搬运与装配等任务。该理论成果可为模块化机器人设计提供方案借鉴。

关键词: 自重构模块化机器人, 形态设计, 性态分析, 空间多任务, 桁架装配

Abstract: The design and application of modular robots represent a crucial approach to addressing future space multitasking challenges. The morphology of fundamental modular units directly influences the task adaptability of modular robots. To tackle the nonlinear mapping problem between space multitask requirements and modular unit morphology, this study proposes a morphology design and performance analysis method for self-reconfigurable modular robots tailored for space multitasking. First, through graph theory-based inverse mapping and the formulation of mapping rules, two types of basic modular unit morphologies are constructed. Body degrees of freedom (B-DOF) are introduced to enhance posture adjustment capability between interfaces, and morphological parameters are characterized. Next, an improved adaptive differential evolution algorithm is employed, with the unit shape and B-DOF angle as optimization variables. A performance evaluation index encompassing stress distribution uniformity, motion flexibility, and workspace is established to optimize and assess the morphology, yielding optimal parameters: a spherical exterior and a B-DOF angle of 45°. Subsequently, the performance expressions of the two modular units are analyzed, including workspace, motion flexibility, isotropy, and shell stress-strain distribution across different motion transmission chains, demonstrating the superiority of the proposed morphological design. Finally, a simulation of the entire truss assembly process is conducted as a multitask case study. The results show that the modular robot, composed of these units, can autonomously reconfigure into single-arm, dual-arm, and multi-branch configurations, successively accomplishing tasks such as truss grasping, transportation, and assembly. The theoretical findings provide valuable insights for the design of modular robots.

Key words: self-reconfiguring modular robot, morphological design, performance analysis, spatial multitasking, truss assembly

中图分类号:

TP242

安小康, 贾庆轩, 陈钢, 刘育强, 刘华伟. 面向空间多任务的自重构模块化机器人形态设计与性态分析[J]. 机械工程学报, 2025, 61(21): 152-167.

AN Xiaokang, JIA Qingxuan, CHEN Gang, LIU Yuqiang, LIU Huawei. Morphological Design and Performance Analysis of a Self-reconfigurable Modular Robot for Multi-task Space Applications[J]. Journal of Mechanical Engineering, 2025, 61(21): 152-167.

参考文献

[1] WANG Zhengwei，WANG Peng，DUAN Jinjun，et al. Review of on-orbit assembly technology with space robots[J]. Aerospace，2025，12(5)：375.
[2] GAO Y，CHINE S. Review on space robotics：Toward top-level science through space exploration[J]. Science Robotics，2017，2(7)：eaan5074.
[3] XUE Zhihui，LIU Jinguo，WU Chenchen，et al. Review of in-space assembly technologies[J]. Chinese Journal of Aeronautics，2021，34(11)：21-47.
[4] 戴野，张启昊，高语斐，等. 自重构模块化机器人模块设计综述[J]. 哈尔滨理工大学学报，2021，26(5)：34-43. DAI Ye，ZHANG Qihao，Gao Yufei，et al. Review of module design for self-reconfigurable modular robots[J]. Journal of Harbin University of Science & Technology，2021，26(5)：34-43.
[5] KILIC C，MARTINEZ B，TATSCH C A，et al. NASA space robotics challenge 2 qualification round：An approach to autonomous lunar rover operations[J]. IEEE Aerospace and Electronic Systems Magazine，2021，36(12)：24-41.
[6] 陈钢，梁正宇，费军廷，等. 考虑拓扑-运动约束的模块化机器人自重构规划[J]. 华中科技大学学报(自然科学)，2025(7)：1-12. CHEN Gang，LIANG Zhengyu，FEI Junting et al. Self-reconfiguration planning for modular robots considering topology-motion constraints[J]. Journal of Huazhong University of Science & Technology (Natural Science Edition)，2025(7)：1-12.
[7] 赵智远，杨晓航，徐梓淳，等. 新型SSRMS构型可重构空间机械臂的运动学奇异性分析[J]. 机械工程学报，2024，60(5)：19-35. ZHAO Zhiyuan，YANG Xiaohang，XU Zichun，et al. Kinematic singularity analysis of a novel SSRMS-type reconfigurable space manipulator[J]. Journal of Mechanical Engineering，2024，60(5)：19-35.
[8] HU Jiaheng，WHITMAN J，TRAVERS M，et al. Modular robot design optimization with generative adversarial networks[C]//2022 International Conference on Robotics and Automation (ICRA). IEEE，2022：4282-4288.
[9] HABIBIAN S，DADVAR M，PEYKARI B，et al. Design and implementation of a maxi-sized mobile robot (Karo) for rescue missions[J]. Robomech Journal，2021， 8(1)：1.
[10] ZHAO D，LAM T L. SnailBot：A continuously dockable modular self-reconfigurable robot using rocker-bogie suspension[C]//2022 International Conference on Robotics and Automation (ICRA). Philadelphia，PA，USA：IEEE，2022：4261-4267.
[11] CH S S R，ABHIMANYU，GODIYAL R，et al. 2DxoPod-a modular robot for mimicking locomotion in vertebrates[J]. Journal of Intelligent & Robotic Systems，2021，101(1)：1-16.
[12] FENG Jingkai，LIU Jinguo. Configuration analysis of a chain-type reconfigurable modular robot inspired by normal alkane[J]. Science China Technological Sciences，2021，64(6)：1167-1176.
[13] SPROWITZ A，MOECKEL R，VESPIGNANI M，et al. Roombots：A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot[J]. Robotics and Autonomous Systems，2014，62(7)：1016-1033.
[14] QIAO Guifang，SONG Guangming，WANG Weiguo，et al. Design and implementation of a modular self-reconfigurable robot[J]. International Journal of Advanced Robotic Systems，2014，11(3)：47.
[15] 许毅，张雨来，斯云昊，等. 微小型仿蝗虫机器人设计及其无翻转跳跃运动实现[J]. 机械工程学报，2023，59(9)：1-11. XU Yi，ZHANG Yulai，SI Yunhao，et al. Design of a small-scale locust-inspired robot and its realization of non-flip jumping motion[J]. Journal of Mechanical Engineering，2023，59(9)：1-11.
[16] LI Peng，NIE Zhenguo，LI Zihao，et al. Optimal design of the modular joint drive train for enhancing cobot load capacity and dynamic performance[J]. Chinese Journal of Mechanical Engineering，2024，37(1)：57.
[17] YAN Jialing，HU Gang，JIA Heming. et al. GPSOM：Group-based particle swarm optimization with multiple strategies for engineering applications[J]. Journal of Big Data，2025，12(1)：1-40.
[18] WANG Yuxing，WU Shuang，FU Haobo，et al. Curriculum-based co-design of morphology and control of voxel-based soft robots[C]//The Eleventh International Conference on Learning Representations. 2022.
[19] BHATIA J，JACKSON H，TIAN Yunsheng，et al. Evolution gym：A large-scale benchmark for evolving soft robots[J]. Advances in Neural Information Processing Systems，2021，34：2201–2214.
[20] MEDVET E，BARTOLO A，PIGOZZI F，et al. Biodiversity in evolved voxel-based soft robots[C]//Proceedings of the Genetic and Evolutionary Computation Conference. 2021：129-137.
[21]PIGOZZI F，MEDVET E，BARTOLO A，et al. Factors impacting diversity and effectiveness of evolved modular robots[J]. ACM Transactions on Evolutionary Learning，2023，3(1)：1-33.
[22] 刘宏，李志奇，刘伊威，等. 天宫二号机械手关键技术及在轨试验[J]. 中国科学：技术科学，2018，48(12)：1313-1320. LIU Hong，LI Zhiqi，LIU Yiwei，et al. Key technologies and on-orbit tests of Tiangong-2 robotic arm[J]. Scientia Sinica Technologica，2018，48(12)：1313-1320.
[23] TATSUO M，SATOH N，KUWAO F. Safety approach of Japanese experiment module remote manipulator system[C]//Proceedings of 5th International Symposium on Artificial Intelligence，Robotics and Automation in Space，1990：531-537.
[24] MA Ou，WANG Jiegao，STRTHAK M，et al. On the validation of SPDM task verification facility[J]. Journal of Robotic Systems，2004，21(5)：219-235.
[25] MA Boyu，JIANG Zainan，LIU Yang，et al. Advances in space robots for on‐orbit servicing：A comprehensive review[J]. Advanced Intelligent Systems，2023，5(8)：2200397.
[26] 韩宇.面向人机交互的月面巡视器转移机构结构设计与力学特性分析[D]. 北京：北京邮电大学，2024. HAN Yu. Structural design and mechanical characteristics analysis of lunar rover transfer mechanism for human-robot interaction[D]. Beijing：Beijing University of Posts and Telecommunications，2024.
[27] GU Tao，LI Sujian. Research on multi-level inventory optimization algorithm of repairable spare parts based on two improved differential evolution[J]. Journal of Mechanical Engineering，2020，56(14)：245-253.

面向空间多任务的自重构模块化机器人形态设计与性态分析

Morphological Design and Performance Analysis of a Self-reconfigurable Modular Robot for Multi-task Space Applications

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	杨癸庚, 杨东武, 杜敬利, 张树新. 一种基于力密度的网状可展开天线索网结构初始形态设计方法[J]. 机械工程学报, 2016, 52(11): 34-41.
[2]	马亚静, 杜敬利, 段宝岩, 杨东武. 考虑支撑桁架变形的星载索网反射面天线形态设计方法[J]. 机械工程学报, 2015, 51(17): 114-119.