月球上的可重构机器人模块化肢体设计与开发
Design and Development of Modular Limbs for Reconfigurable Robots on the Moon
AI总结：
本文提出了一种适用于月球空间探索的模块化机器人肢体设计，通过统一的执行器和多种配置实现灵活性和适应性。
摘要：
在本文中，我们提出了4自由度机器人肢体的发展，我们称之为Moonbots，旨在以各种配置相互连接并与轮模块连接，以适应不同的环境和任务。这些模块化组件主要针对月球空间探索和建设的机器人系统。此类模块化机器人为资源受限的空间任务提供了灵活性和多样性。每个模块由一个具有高扭矩-速度比的通用执行器驱动，支持在需要时的精确控制和动态运动。这种统一的执行器设计简化了不同模块类型的开发和维护。本文描述了硬件实现、模块的机械设计以及用于控制和协调它们的整体软件架构。此外，我们评估了执行器在不同负载条件下的控制性能，以表征其适用于模块化机器人应用的适应性。为了展示系统的适应性，我们介绍了由相同模块集组装成的九种功能配置：4DOF-肢体、8DOF-肢体、车辆、龙、最小、四足、货物、货物-最小和自行车。这些配置反映了不同的运动策略和任务特定行为，为进一步研究可重构机器人系统提供了实用的基础。
英文摘要：
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to different environments and tasks. These modular components are intended primarily for robotic systems in space exploration and construction on the Moon in our Moonshot project. Such modular robots add flexibility and versatility for space missions where resources are constrained. Each module is driven by a common actuator characterized by a high torque-to-speed ratio, supporting both precise control and dynamic motion when required. This unified actuator design simplifies development and maintenance across the different module types. The paper describes the hardware implementation, the mechanical design of the modules, and the overall software architecture used to control and coordinate them. Additionally, we evaluate the control performance of the actuator under various load conditions to characterize its suitability for modular robot applications. To demonstrate the adaptability of the system, we introduce nine functional configurations assembled from the same set of modules: 4DOF-limb, 8DOF-limb, vehicle, dragon, minimal, quadruped, cargo, cargo-minimal, and bike. These configurations reflect different locomotion strategies and task-specific behaviors, offering a practical foundation for further research in reconfigurable robotic systems.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
