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自重构机器人变形过程运动学分析及越障仿真.docx

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自重构机器人变形过程运动学分析及越障仿真 Title:KinematicAnalysisandObstacleAvoidanceSimulationofSelf-reconfiguringRobotTransformationProcess Abstract: Self-reconfiguringrobots(SRRs)areanexcitingareaofresearchinrobotics,astheycanautonomouslychangetheirphysicalconfigurationtoadapttodifferenttasksandenvironments.Thispaperpresentsacomprehensivekinematicanalysisandobstacleavoidancesimulationofthetransformationprocessofaself-reconfiguringrobot.Thegoalistounderstandthemotionmechanicsinvolvedinthetransformationandtoevaluatetherobot'sperformanceintraversingobstaclesduringthereconfigurationprocess.Bystudyingthekinematicpropertiesandsimulatingobstacleavoidancescenarios,thisresearchaimstocontributetotheadvancementofSRRsinreal-worldapplications. 1.Introduction Self-reconfiguringrobots(SRRs)havetheabilitytoautonomouslychangetheirshape,structure,andlocomotionmechanismtoadapttodifferentenvironmentsandtasks.Thisuniquecharacteristicmakesthemsuitableforvariousapplications,includingsearchandrescueoperations,spaceexploration,andindustrialautomation.UnderstandingthemotionmechanicsinvolvedinthetransformationprocessandevaluatingtheirperformanceinmaneuveringobstaclesarecrucialstepstowardsthepracticaldeploymentofSRRs. 2.KinematicAnalysisofSelf-reconfiguringRobots Thissectionprovidesadetailedkinematicanalysisoftheself-reconfiguringrobot'stransformationprocess.Theanalysisfocusesonunderstandingthejointmovements,linkages,andmechanismcoordinationinvolvedinthereconfiguration.Variousmathematicalmodels,suchasscrewtheoryandDenavit-Hartenbergparameters,areutilizedtodescribetherobot'smotion.Additionally,aforwardandinversekinematicsanalysisisperformedtocalculatethedesiredjointanglesandlinkspositionduringthetransformation. 3.ObstacleAvoidanceSimulation Tosimulatetherobot'sbehaviorinobstacle-richenvironmentsduringthetransformation,adynamicobstacleavoidancealgorithmisproposed.Thealgorithmincorporatessensorfeedbackandmotionplanningtechniquestoenabletherobottoidentifyandavoidobstaclesefficiently.Asimulationenvironmentiscreatedt