可双层变形的模块化机器人，能换形状也能变结构。
MODUR: A Modular Dual-reconfigurable Robot
- 模块间可重组形成新结构，单个模块还能自主改变形态。
- 采用紧凑连接器与剪刀联动组，实现运动解耦和位置迁移。
- 适合需要灵活适应复杂环境的机器人研究者参考。
模块化自重构机器人（MSRR）可通过改变模块间的拓扑关系形成更高层级的机器人系统，从而在各种环境中提升适应性和鲁棒性。本文提出一种新型MSRR——MODUR，具备双层级重构能力，既能实现模块间的高层级自重构以形成不同构型，又能使每个模块自主改变形状以执行基本运动。其设计核心包括紧凑型连接器和剪刀联动组，提供驱动功能，构成并联机构，实现连接器运动解耦与相邻位置迁移能力。此外，综合考虑连接器间的相互依赖关系，对工作空间进行了全面分析，为模块基础运动设计提供了理论基础。最后通过一系列实验验证了MODUR的运动性能。
原文摘要 · Abstract (English)
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, featuring dual-level reconfiguration capabilities designed to integrate reconfigurable mechanisms into MSRR. Specifically, MODUR can perform high-level self-reconfiguration among modules to create different configurations, while each module is also able to change its shape to execute basic motions. The design of MODUR primarily includes a compact connector and scissor linkage groups that provide actuation, forming a parallel mechanism capable of achieving both connector motion decoupling and adjacent position migration capabilities. Furthermore, the workspace, considering the interdependent connectors, is comprehensively analyzed, laying a theoretical foundation for the design of the module's basic motion. Finally, the motion of MODUR is validated through a series of experiments.
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