Automatic Couplings With Mechanical Overload Protection for Modular Robots

Belke, Christoph H.; Paik, Jamie

doi:10.1109/tmech.2019.2907802

Cited by 13 publications

(4 citation statements)

References 21 publications

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“…Here, we focus on deployables as actuated rigid segments, the daisy flower-type of deployment being well-established [115]. A genderless automated coupling mechanism has been designed that disengages once a predefined force is exceeded [116]. It was a 2D structure with origami-type hinges for folding with a shape memory alloy spring that can retract the slider coupling.…”

Section: Self-assembling Panel Systemsmentioning

confidence: 99%

3D Printing Modules for Self-Assembling Space Systems

Ellery,

Elaskri

2024

Preprint

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We explore 3D printing modules for self-assembling spacecraft and robots – structure, actuators, electrics. Self-assembly has long been viewed as a highly desirable capability for autonomous construction of large space structures. We review self-assembly in space which focusses on the self-assembly of modules that demonstrate the range of applications. However, self-assembly may be synergised with 3D printing to offer an automated capability from raw material to modules for assembling new spacecraft or habitats. One application of 3D printing is using space debris on-orbit as an in-situ resource - defunct spacecraft may be salvaged as raw material for in-situ construction on demand. The common features of all self-assembling modules are that the modules constitute a structure housing a computer-controlled actuator internally and a reversible latching mechanism externally. We have demonstrated a 3D printed DC electric motor in which the only components that were not 3D printed are the wire coils. We have married our 3D printed motor prototype as an actuated joint between two 3D printed trigon-type panels developed as part of a trigon self-assembling system concept. The trigon concept underlies a modular approach to self-assembling and self-deploying structures. The 3D printed motorised panel system demonstrates that the motor aspect and structural aspects of robotic self-assembling machines are amenable to 3D printing. This has implications for self-assembling systems into modular satellites as a solution to space debris.

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Section: Self-assembling Panel Systemsmentioning

confidence: 99%

3D Printing Modules for Self-Assembling Space Systems

Ellery,

Elaskri

2024

Preprint

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“…One example of such a system is the Modular Manipulator System (ModMan) [72], where the connections, inspired by lead screws, are applicable to high mechanical or power loads for an industrial manipulator [73]. Other examples of MSRs with genderless locking mechanisms are Mori [74], Genderless, High-Strength, Efficient, Fail-Safe, and High Misalignment Tolerant (GHEFT) [75], FireAnt [76], and Soldercube [77].…”

Section: Docking Mechanisms For Assembliesmentioning

confidence: 99%

Modular Self-Configurable Robots—The State of the Art

Vu,

Bi,

Mueller

et al. 2023

Actuators

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Modular self-configurable robot (MSR) systems have been investigated for decades, and their applications have been widely explored to meet emerging automation needs in various applications, such as space exploration, manufacturing, defense, medical industry, entertainment, and services. This paper aims to gain a deep understanding of up-to-date research and development on MSR through a thorough survey of market demands and published works on design methodologies, system integration, advanced controls, and new applications. In particular, the limitations of existing mobile MSR are discussed from the reconfigurability perspective of mechanical structures.

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“…This versatile feature is an advantage for robots when working in various working spaces. Up to now, there are several studies on robot transformation ability supported by origami art, like miniature origami robots [2], self-folding origami robot [3]- [7], Tribot [8]- [10], and origami-inspired robotic arm [11]- [13]. The idea of making a robot folding origami pattern was investigated in [14], [15].…”

Section: Introductionmentioning

confidence: 99%

On solving the kinematics and controlling of origami box-shaped robot

Thai

Nguyễn²

2023

IJRA

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<span lang="EN-US">Nowadays, there are various research on transformable robot. The use of origami pattern for transformable robot can be found in many research. The disadvantages of traditional origami model are the suitable material for folding is zero thickness, complicated patterns and overconstrained mechanism. In this paper, the idea of designing 1 degree-of-freedom box-shaped robot is proposed and two types of robot design have been analyzed. The first design is the waterbomb robot, that uses the traditional origami pattern. The second model takes the Sarrus linkage as the main mechanism for the mobile robot. In both designs, only one motor is required for the transformation of the robot, making the robot light-weight and portable. This paper analyzes the kinematic and dynamic properties of two transformable robots by using MATLAB. The comparison of the torque required for forming 3D shape has been done for optimizing robot design. Finally, the real model optimized design is introduced to illustrate the proposed method. </span>

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Automatic Couplings With Mechanical Overload Protection for Modular Robots

Cited by 13 publications

References 21 publications

3D Printing Modules for Self-Assembling Space Systems

3D Printing Modules for Self-Assembling Space Systems

Modular Self-Configurable Robots—The State of the Art

On solving the kinematics and controlling of origami box-shaped robot

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