关键词: 模块化机器人, 机器人模块, 关节模块, 功能模块

Abstract:

In order to overcome such shortcoming as low flexibility,poor fault tolerance,poor self-repairing ability as shown in bask-based design of traditional robots,and to reduce the use cost of robots,a modular robot platform is designed.In the investigation,first,the overall design of the modular platform is presented.Then,the design principles and implementations of the hardware and the software of the platform are introduced.Finally,five robots,namely a manipulator,a wheeled mobile robot,a biped walking robot,a wall-climbing robot and a tree-climbing robot,are built for the proposed platform,for which some simulations and experiments are performed.Experimental results show that the proposed modular design method is feasible with high performance.

Key words: modular robot, robotic module, joint module, functional module