Abstract
In nature, social insects usually have group activities. This paper draws on the advantages of that, and designs a robot that can self-assemble. The function and structure of a single robot are exactly the same. After that, this paper analyzes the kinematics and dynamic equations of the robot. In the case of giving the target formation, the position can be adjusted by the motion mechanism. According to the structure of the robot, a hook docking mechanism that does not require extra space is designed. By controlling the steering gear to rotate the hook, the docking can be completed. At the end of the article, the control flow of the robot is given, the selection and design of the robot hardware circuit is completed, and the robot is tested. When the linear docking requirement is given, the robot can independently search for the surrounding robot and dock it. The experiment proves the reliability of the docking mechanism and the motion mechanism, and also shows that the mechatronic design can be effectively applied to the design of the robot.
Published Version
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