磁耦合摆式机器人实现模块自重构，运动更灵活。
Design and Motion Analysis of a Reconfigurable Pendulum-Based Rolling Disk Robot with Magnetic Coupling
- 用磁耦合与摆结构设计可重构的滚轮机器人
- 通过优化磁阵列增强连接强度并保持紧凑外形
- 揭示摩擦滑动引发的新运动模式，适合非抓取操控研究
可重构机器人因在多任务协同中表现出卓越灵活性而处于机器人创新前沿。本文提出一种新型基于摆的磁耦合系统，应用于可重构圆盘机器人。与传统设计不同，该系统在保持外壳紧凑的同时显著提升耦合强度。通过参数化优化与磁阵列仿真，进一步优化了耦合性能。同时，对滚动机器人运动进行了全面分析，揭示了由滚轮模块与地面间的摩擦与滑动效应驱动的新型运动模式。此外，该构型引入了非预握操作领域的新问题。
原文摘要 · Abstract (English)
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel pendulum-based magnetic coupling system within a reconfigurable disk robot. Diverging from traditional designs, this system emphasizes enhancing coupling strength while maintaining the compactness of the outer shell. We employ parametric optimization techniques, including magnetic array simulations, to improve coupling performance. Additionally, we conduct a comprehensive analysis of the rolling robot's motion to assess its operational effectiveness in the coupling mechanism. This examination reveals intriguing new motion patterns driven by frictional and sliding effects between the rolling disk modules and the ground. Furthermore, the new setup introduces a novel problem in the area of nonprehensile manipulation.
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