精品文档---下载后可任意编辑摘要如今，机器人的进展突飞猛进，机器人服务已经覆盖了人们生活、工作、娱乐的方方方面。随着人类的需求的不断增加，对机器人领域的探究也越走越远，机器人模块化技术已在各个领域的产品讨论和开发中广泛应用。于传统机器人相对比，模块化机器人柔性更好，自修复能力强柔性高，且容错性强、成本较低。模块化结构较简单，便于加工，各模块能互相替换，组装快捷简便。由于模块化机器人结构和功能的可重组性，对任务和环境有很强的适应能力。采纳模块化技术，有利于机器人的维护和保养，缩短了机器人设计的时间。因此，本文将采纳模块化的方法开发一种新机器人系统，希望有利于改善目前机器人控制复杂、通用性差和操作繁琐等问题。本文一共分为六个部分，第一部分绪论主要概括模块化机器人的讨论背景、意义和国内外模块化机器人讨论现状，第二部分探讨了机器人模块化的设计原理和方法，第三部分主要讨论了机器人控制系统设计，第四部分分析机器人主从控制策略。第五部分概述了机器人构型，最后进行了小结。关键词：机器人；模块化；系统设计；构型AbstractNowadays, the development of robots is advancing by leaps and bounds. Robot service has covered all aspects of people's life, work and entertainment. With the increasing demand of human beings, the exploration of robot field is more and more far away. Robot modularization technology has been widely used in product research and development in various fields. Compared with the traditional robot, modular robot is more flexible, self repairing ability, high flexibility, and good fault tolerance and low cost. The modular structure is simple, easy to process, each module can replace each other, and the assembly is quick and easy. Because of the reconfiguration of modular robot structure and function, it has a strong adaptability to task and environment. Modular technology is beneficial to the maintenance and maintenance of robots, and shortens the time of robot design. Therefore, this paper will use modular method to develop a new...
