RU2560829C2 - Mechatronic modular robot - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to the machine building, namely to robotic engineering, and can be used during creation of the mechatronic modular robots. Mechatronic modular robot comprises, as minimum, two interfaced modules, preferably two and more, primary and new interfaced, at that one of two interfaced modules, preferably primary, is master in relation to the another secondary interfaced with it module, at that this hierarchy of structure of the mechatronic modular robot is met upon further modules interfacing to form the final structure of the mechatronic modular robot; at that interfacing of each new module with previously assembled is made along the selected direction and is ensured by connection of its first interface area with one of free on any other structural elements occupying the nearest outermost position in one or another row.

EFFECT: increased efficiency of orientation in the environment of the re-configured mechatronic devices, preferably mechatronic modular robots.

2 cl, 4 dwg

Description

The invention relates to mechanical engineering, namely to robotics, and can be used to create mechatronic-modular robots.

One of the most important and promising areas of development of modern robotics is associated with the development of a new class of devices - multi-link mechatronic-modular robots with an adaptive structure. Structural synthesis in the design of reconfigurable mechatronic-modular robots is considered as a simultaneous automated solution of two selection problems: the order of the block-modular assembly and the configuration option of the a priori periodic law of variation of the generalized coordinates (y, z), which determines the motion control algorithm.

There is a method of multi-alternative optimization of automation models for structural synthesis of mechatronic-modular robots, which consists in synthesizing the structure of a multi-invariant model of mechatronic-modular robots, and subsequent fixation of the obtained optimal solutions and a robot obtained using this method (I.M. Makarov, V.M. Lokhin, S.V. Manko, M.P. Romanov, M.V. Kadochnikov. IT, ″ Knowledge Processing Technologies for Control Autonomous Mechatronic Modular Reconfigurable Robots ″, Appendix to ″ Information nnye tekhnologii ″ No. 8, M.: New Technologies, 2010, pp. 3-7, Fig. 14 - prototype).

The indicated method of multi-alternative optimization of models of automation of structural synthesis of mechatronic-modular robots is to create specific modules and memorize the specific positions of individual modules to solve targets.

The disadvantages of this technical solution is its significant complexity, low orientation efficiency in the environment of reconfigurable mechatronic devices, mainly mechatronic-modular robots.

The objective of the proposed technical solution is to eliminate these drawbacks and create a mechatronic-modular robot, the use of which will speed up the synthesis process, as well as increase the orientation efficiency in the environment and the reliability of the created mechatronic devices, mainly mechatronic-modular robots.

The solution to this problem is achieved by the fact that the proposed mechatronic-modular robot according to the invention consists of at least two interconnected identical modules, preferably two or more, primary and again mating with it, having interface platforms for docking, while the primary the module is a control module with respect to the subsequent ones that are dockable with it, while the modules that are docked with it have the ability to independently implement the algorithm for assembling and synthesizing the structure of the robot for more than at a lower level than the mentioned control module, and the number of modules combined into the mentioned robot is determined from the relation: n = 1, N, where: n is the number of modules combined into one robot is determined from the ratio n = 1 + x ₁ + 2x ₂ + 4x ₃ + 8x ₄ , where: x ₁ , x ₄ = 1,0 is the number of interface pads on the module, N≤16 is the limit number of modules that can be combined into one robot, while pairing each new module with previously assembled / and implemented along the selected direction and provided by the docking of its first interface platform with one and h free on any other structural elements occupying the closest extreme position in one or another row, moreover, the interface pads of each module are configured to dock with similar pads in at least four diametrically opposite directions, with alternative variables for synthesized mechatronic control algorithms -modular design to describe the parameters of the periodic law of motion selected from the following relationship:

Angle = A + B sin (ωt + φ),

where: A is the value of the generalized coordinate with respect to which periodic motion occurs; B is the amplitude of the periodic oscillations of the generalized coordinate, and the total value does not exceed the maximum permissible deviation of the generalized coordinate of the module; φ is the phase shift of the periodic motion.

In the embodiment for the optimization of structural synthesis, the values of alternative variables are selected that provide the maximum value of the function:

$$\sout{\int }=\frac{{\left[y\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2+{\left[z\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2}{N\left(\overline{x_{\mathrm{one}},x_{\mathrm{four}n}}\right)N_c\left(\overline{x_{10},x_{41n}}\right)}\to \max$$

under the restrictions n = 1, N

$$\begin{array}{l}\left|A_{\mathrm{one}}\left(\overline{x_{10},x_{12n}}\right)+B_{\mathrm{one}}\left(\overline{x_{\mathrm{fourteen}n},x_{17n}}\right)\right|\le y^{\max },\\ \begin{array}{c}\left|A_2\left(\overline{x_{26},x_{\mathrm{29th}n}}\right)+B_2\left(\overline{x_{\mathrm{thirty}n},x_{33n}}\right)\right|\le z^{\max }\\ \overline{x_{\mathrm{one}},x_{41n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}\end{array}$$

where: y ^max , z ^max - the maximum permissible deviations of the generalized coordinate of the module relative to its zero value.

The invention is illustrated by drawings, in which Fig. 1 shows individual mechatronic-modular robots with free interface pads, Fig. 2 - a mechatronic-modular robot, consisting of several modules interconnected by free interface pads, and forming a polygon-shaped figure , figure 3 - mechatronic module, consisting of several modules interconnected by free interface pads, and forming a figure in the form of a square, figure 4 - mechatronic module, consisting of n several modules interconnected by free interface pads, and forming a figure in the form of a rectangle.

The mechatronic-modular robot 1 consists of at least two modules interconnected, primary 2 and secondary 3. One of the two modules interconnected, primarily primary 2, is controlling in relation to the other, secondary 3, with it, In this case, secondary modules 3 that are connected to module 2 have the ability to independently implement the algorithm for assembling and synthesizing the structure of the robot at a lower level than the mentioned control module 1, and the hierarchy in the structure of the mechatronic-modular robot with ljuda the subsequent conjugation modules to form the final structure mechatronic-modular robot. The pairing of each new module with the previously assembled / and was carried out along the selected direction and provided by the docking of its first free interface pad 4 with one of the free similar pads 4 on any other structural elements occupying the closest extreme position in one or another row. The non-free interface platform 5 is formed by docking between each other two free interface platforms 4.

The proposed mechatronic-modular robot can be created as follows.

Consider a variety of design elements and introduce the corresponding alternative variables by representing the discrete numbers corresponding to these elements in binary terms.

Тогда в двоичном исчислении получают при N≤16, где: N - количество сторон, n - количество возможный итераций.Designate the number of modules 2 and 3, combined into one mechatronic-modular robot 1, without a clearly defined structure, $$n=\overline{\mathrm{one,}N}$$

Then, in binary terms, get at N≤16, where: N is the number of sides, n is the number of possible iterations.

$$\begin{array}{c}n=\mathrm{one}+x_{\mathrm{one}}+2x_2+\mathrm{four}{x}_3+8x_{\mathrm{four}},\\ gde\overline{x_{\mathrm{one}},x_{\mathrm{four}}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}$$

When block-modular assembly of the robot 1 is believed that the pairing of each new module with the previously assembled is carried out along the selected direction and is provided by docking its first free interface pad 4 with one of the free similar interface pads 4 on any other modules 2 and 3, as structural elements, occupying the nearest extreme position in one row or another.

Allocate this algorithm mainly as Asb. A description of the assembly order leads to an indication of the direction and mounting location of the next element using the Asb algorithm.

In the direction for joining the nth module, four values are taken: n _cm = 1 - north, n _cm = 2 - east, n _cm = 3 - south, n _cm - 4 - west and are represented through alternative variables:

$$\begin{array}{c}{n}_{cm.n}=\mathrm{one}+x_{5n}+2x_{6n},\\ gden=\overline{\mathrm{one,}N,}{x}_{5n},x_{6n}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}$$

The number of the site selected for joining the nth module in binary terms is written as follows:

$$\begin{array}{l}{n}_{cm.n}=\mathrm{one}+x_{7n}+2x_{8n}+\mathrm{four}{x}_{9n},\\ gden=\overline{2n,}\overline{x_{7n},x_{9n}}=\{\frac{\mathrm{one,}}{0.}\end{array}$$

Alternative variables for describing the parameters of the periodic law are introduced as follows:

Angle = A + B sm (cjt + (p),

where: A is the value of the generalized coordinate with respect to which periodic motion occurs;

не должна превышать максимально допустимого отклонения обобщенной координаты модуля;B is the amplitude of the periodic oscillations of the generalized coordinate; total value $$\left|A\right|+\left|B\right|$$

must not exceed the maximum permissible deviation of the generalized coordinate of the module;

φ is the phase shift of the periodic motion.

By setting the parameters of this law, control algorithms for the synthesized mechatronic-modular design are determined. These parameters are characterized by discrete values having corresponding numerical numbers within N≤16.

Then, for optimization structural synthesis, the values of alternative variables are selected that provide the maximum value of the function.

$$\sout{\int }=\frac{{\left[y\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2+{\left[z\left(\overline{x_{\mathrm{one}},x_{41n}}\right)\right]}^2}{N\left(\overline{x_{\mathrm{one}},x_{\mathrm{four}n}}\right)N_c\left(\overline{x_{10},x_{41n}}\right)}\to \max$$

under the restrictions n = 1, N

$$\begin{array}{l}\left|A_{\mathrm{one}}\left(\overline{x_{10},x_{12n}}\right)+B_{\mathrm{one}}\left(\overline{x_{\mathrm{fourteen}n},x_{17n}}\right)\right|\le y^{\max },\\ \begin{array}{c}\left|A_2\left(\overline{x_{26},x_{\mathrm{29th}n}}\right)+B_2\left(\overline{x_{\mathrm{thirty}n},x_{33n}}\right)\right|\le z^{\max }\\ \overline{x_{\mathrm{one}},x_{41n}}=\{\begin{array}{c}\mathrm{one,}\\ 0.\end{array}\end{array}\end{array}$$

where y ^max , z ^max are the maximum permissible deviations of the generalized coordinate of the module relative to its zero value.

To find the maximum value of the f-function, a randomized multi-alternative optimization algorithm is used, which is supplemented by another level within the framework of a controlled swarm of particles.

To synchronize the procedures of the particle swarm method and the variational multi-alternative optimization procedure, the choice of particles for updating the coordinate change rate, which is performed using a randomized scheme, is controlled at each step. For this purpose, a random discrete quantity m is introduced, which takes the value m = 1, M with probability pn. In the first step receive:

$$p_n^{\mathrm{one}}=\frac{\mathrm{one}}{N}{\forall }_n=\overline{\mathrm{one,}N}$$

при условии $${\displaystyle \sum {}_{n=1}^M{p}_n^{\nu k}=1}$$

осуществляют следующим образом. Определяют значение случайной величины $$\tilde{n}$$

. Пусть $$\tilde{n}=\nu$$

. Тогда скорости изменения координат на (k+1)-м шаге вычисляются:Further change of values $$p_n^k$$

provided $${\displaystyle \sum {}_{n=\mathrm{one}}^M{p}_n^{\nu k}=\mathrm{one}}$$

carried out as follows. Determine the value of a random variable $$\tilde{n}$$

. Let be $$\tilde{n}=\nu$$

. Then the coordinate change rates at the (k + 1) th step are calculated:

, $${\nu }_{mn}^{r+\mathrm{one}}=\{\begin{array}{c}{\nu }_{mn}^r,\forall n=\overline{\mathrm{one,}N,}n\ne \nu ,\\ p_{B_{mn}}^{r+\mathrm{one}}[q_{z_{mn}}^r\text{æ}\left({\nabla }_{\mathrm{one}m}F\right)-p_{z_{mn}}^r\text{æ}\left(-{\Delta }_{\mathrm{one}mn}F\right)\\ n=\nu \end{array}$$

,

and the probability value p _n :

$$p_n^{k+\mathrm{one}}=\{\begin{array}{c}\frac{p_n^k}{\mathrm{one}+{\epsilon }^{k+\mathrm{one}}}\forall n=\overline{\mathrm{one,}N},n\ne \nu ,\\ \frac{p_n^k+{\epsilon }^{k+\mathrm{one}}}{\mathrm{one}+{\epsilon }^{k+\mathrm{one}}},n=\nu .\end{array}$$

Moreover, the quantity ε> 0 determines the degree of record-breaking motion of the νth particle in the direction toward the extremum of the optimized function.

The proposed mechatronic-modular robot operates as follows.

A control primary module 2 with a free interface pad 4 is arbitrarily selected and docked with any arbitrarily selected secondary module 3 with a similar free interface pad 4. When two free interface pads 4 are joined together, a non-free interface pad 5 is formed. Further free modules 3 are connected to the formed module consisting of two initially interconnected control module 2 and secondary 3, occurs along the selected direction with the formation of the required the final structure of the mechatronic-modular robot.

Using the proposed technical solution will allow us to synthesize the structure of a multi-invariant model of mechatronic-modular robots with subsequent fixing of the obtained optimal solutions with a subsequent increase in the number of possible iterations of the mechatronic-modular robot with a significant reduction in the synthesis time.

Claims (2)

1. Mechatronic-modular robot, characterized in that it consists of at least two interconnected identical modules, a primary and again interfaced / s, having interface pads for docking, while the primary module is a control module with respect to the next one that is docked with it, while the modules docked with it have the opportunity to independently implement the algorithm for assembling and synthesizing the structure of the robot at a lower level than the mentioned control module, and the number of modules taken into the mentioned robot, it is determined from the relation: n = 1, N, where: n is the number of modules combined into one robot, it is determined from the relation n = 1 + x ₁ + 2x ₂ + 4x ₃ + 8x ₄ , where: x ₁ , x ₄ = 1,0 - the number of interface pads on the module, N≤16 - the limit number of modules that can be combined into one robot, while each new module is paired with the previously assembled / and is carried out along the selected direction and provided with its first docking interface platform with one of the free on any other structural elements occupying the nearest extreme position in one row or another, moreover, the interface pads of each module are capable of docking with similar pads in at least four diametrically opposite directions, while the alternative variables for the control algorithms of the synthesized mechatronic-modular design for describing the parameters of the periodic law of motion are selected from the following ratio:

where: A is the value of the generalized coordinate with respect to which periodic motion occurs; B is the amplitude of the periodic oscillations of the generalized coordinate, and the total value | A | + | B | does not exceed the maximum permissible deviation of the generalized coordinate of the module; φ is the phase shift of the periodic motion. 2. The mechatronic-modular robot according to claim 1, characterized in that for the optimization of structural synthesis use the function f - a randomized algorithm of multi-alternative optimization with the choice of values of alternative variables

 providing the maximum value of the function:

under the restrictions n = 1, N

where: y^maxz^max - the maximum permissible deviations of the generalized coordinate of the module relative to its zero value.

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