关键词: 变形, 滑移转向, 模块化机器人

Abstract: Shape-shifting robot AMOEBA-I has the ability to pass the narrow and small ruins with the line configuration, but there are many restricts in use such as hard turning, large turning radius, and the connecting link between module 2 and module 3 is large resistance moment. In order to reduce the turning radius, the time of turning, the moment of resistance and enhance the compatibility of complex environment of the robot, a method is proposed that can make the robot to turn quickly and more effectively. Through the research of the process of the robot shape-shifting before it skid-turns and the establishment of mathematical model, the kinematics and mechanical properties of three modules are analyzed, and the resistance moment and the driving force is obtained. The theoretical basis of the shape-shifting robot skid-turning is computed and the evaluation criterion is proposed for the performance of robot turning. By the analysis of experiment, the drive current of the motor does not exceed the limit load of the motor and it is more quick and smooth comparing to the link-turning. The validity and enforceability of the turning is proved by simulations and experiments.

Key words: Module robots, Shape-shifting, Skid-Turning