An alternative locomotion unit for mobile modular self-reconfigurable robots based on archimedes screws

Abstract

In this paper, we introduce a new locomotion unit for mobile modular self-reconfigurable robots. The design is based on Archimedes screws and allows a robot to utilize its full potential. With this newly designed drive unit called screw drive, a robot is able to drive in almost every direction while still using a simple, easy to control setup which requires very little space. Next to a general design description, we introduce the locomotion model for the screw drive used in simulation as well as in locomotion control of the robot. Additionally, we show several experiments to confirm the versatility of the screw drive.

Optimization of Motion Primitives for High-Level Motion Planning of Modular Robots

“…Three basic approaches can be utilized to achieve motion of modular robots: a) reconfiguration, b) joint-control locomotion and c) locomotion using dedicated actuators like wheels, belts or even screw-drives. 8 The motion through reconfiguration is achieved by repeated disconnection/reconnection of the modules. 11 The joint-control motion, which is considered in this paper, is achieved by controlling joints between the connected modules.…”

“…3) which are simulated using models of KaBot modular robots. 8 The motion primitives are modeled using three generators: a) nonlinear oscillator; 3 b) neural oscillator; 5 and c) harmonic oscillator. Due to page limit, we refer to 3,5,10 for detailed description of the oscillators.…”

“…The performance of the proposed optimization schema is also verified on real robots made of KaBot modules. 8 The modules are cubes of side length 10 cm and weight ∼1 kg equipped with actuators for both 2D and 3D locomotion, four docking mechanisms, camera, IR receivers/transmitters, accelerometers and a small PC with µClinux. The modules can communicate using Ethernet or Zigbee.…”

A theoretical approach to pneumatic muscle mechanics

“…To rotate the robot, one screw needs to be controlled while the other one needs to be motionless. A detailed description of the design and working principle of the screw drive is given in [21].…”