Current trends in reconfigurable modular robots design

Brunete, Alberto; Ranganath, Avinash; Segovia, Sergio; Frutos, Javier Pérez de; Hernando, Miguel; Gambao, Ernesto

doi:10.1177/1729881417710457

Cited by 104 publications

(64 citation statements)

References 77 publications

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“…Modular robots usually consist of repeated robotic modules connected together to provide versatile and configurable robotic systems that can form different structures with different capabilities, and which can adapt to unknown and unstructured environments [1]. There are four critical elements associated with a typical modular robotic system: (1) a docking element that allows physical connections between modules, (2) a locomotion element that permits the docking function, (3) a computation element that offers control of the locomotion and docking and communication between modules, and (4) a power element for the computation system [2].…”

Section: Introductionmentioning

confidence: 99%

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Electrically controllable connection and power transfer by electroadhesion

Guo

Xiang

Rossiter

2019

Smart Mater. Struct.

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Reconfigurable smart structures and robots require interconnects that enable the transfer of forces, power and data from one modular element to another. This is typically achieved through magnetic coupling, mechanical clips and male-female electrical contacts. In lightweight structures however, these methods are impractical due to weight and complexity. In this work we present an electroadhesive coupling (EAC) controllable interfacial connection for joining lightweight modular components, which enable simultaneous mechanical joining and electrical pass-through connections for power and communication. Active adhesion and power transfer are realized by electroadhesion (EA) using conducting electrodes on lightweight materials such as papers. We present the underlying EAC concept, materials and structures, and demonstrate this new approach using origami and kirigami structures to fabricate a modular EAC bridge and a modular EAC cuboid structural interconnection system. These novel structures have the potential for application in lightweight robotics, space systems, deployable and self-assembling and self-disassembling systems.Supplementary material for this article is available online

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Section: Introductionmentioning

confidence: 99%

“…Traditional interconnects that enable the transfer of forces, power, and data from one robotic module to another include magnetic coupling, mechanical clips, and male-female electrical contacts [2][3][4][5]. This limits the weight and design of the robots.…”

Section: Introductionmentioning

confidence: 99%

Electrically controllable connection and power transfer by electroadhesion

Guo

Xiang

Rossiter

2019

Smart Mater. Struct.

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“…Magnetic connectors have been implemented as passive couplings using permanent magnets [12], as a guide during the reconfiguration process [13], and as active couplings using electromagnets [14]. To overcome the high power consumption of electromagnets, semipermanent magnets have been used as a semipermanent interface [15].…”

Section: Introductionmentioning

confidence: 99%

“…However, the low strength provided is oftentimes a disqualifying characteristic as it must be balanced with the ability to disengage modules and misalignment under load. Mechanical couplings are more common in selfreconfigurable systems [14] and are usually based on hooks or latches. While they are generally more complex than magnetic couplings, they offer more design freedom for the embedded mechanisms and their specifications.…”

Section: Introductionmentioning

confidence: 99%

Automatic Couplings With Mechanical Overload Protection for Modular Robots

Belke

Paik

2019

IEEE/ASME Trans. Mechatron.

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This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a predefined torque threshold. Several key design aspects allow the minimalist coupling to contain all functionalities within a compact cylindrical space. A detailed analytical model of the overload protection mechanism is validated by testing two materials and fabrication methods. We further present a functional prototype of the coupling with a demonstration of two modular robots driving toward one another, automatically connecting and disconnecting, detecting the connection, communicating in the process, and sensing the angle between them. The coupling as well as the embedded technologies and mechanisms present essential steps toward enabling fully selfreconfigurable robots combining modular and origami features, while advancing the process of introducing modularity into a wide range of robotic systems.

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“…Sie können über einen Verbindungsmechanismus aktiv miteinander verbunden und wieder gelöst werden und sich über angebundene Module fortbewegen. Seit der Entwicklung von modularen Robotern wurden die wesentlichen Komponenten wie Aktoren, Verbindungsmechanismus, Elektronik und Algorithmen für Rekonfiguration der Zellen verbessert [1], jedoch wurden noch keine konkreten Anwendungsgebiete gefunden, um diese einzusetzen [20]. Modulare Roboter haben im Vergleich zu herkömmlichen Industrierobotern den Vorteil, dass sie flexibel eingesetzt werden können und als Einzelkomponenten robust und kostengünstig sind.…”

Section: Introductionunclassified

Aktiv rekonfigurierbares Robotersystem zum Aufbau geschlossener Strukturen in der Ebene

Pieber

Neurauter

Gerstmayr

2019

Forsch Ingenieurwes

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ZusammenfassungFür die auditive und visuelle Wahrnehmung bieten sogenannte "Virtual Reality"-Systeme eine hochauflösende Nachbildung der Wirklichkeit bei gleichzeitig niedrigen Kosten. Um digitalisierte Objekte noch näher an die Realität zu bringen, werden in dieser Arbeit programmierbare Strukturen vorgestellt, welche neben der visuellen auch die taktile Wahrnehmung ermöglichen sollen. Die Basis der programmierbaren Strukturen bildet ein zellularer Roboter, dessen Zellen sich sowohl verformen als auch aktiv verbinden können. Die dreieckigen Zellen besitzen an jeder Seitenkante einen Aktuator, wodurch es möglich ist, aus mehreren Zellen unstrukturierte Dreiecksnetze aufzubauen. Aufgrund der speziellen Gestalt der Gelenke können die von der Finite-Elemente-Methode bekannten Netze -abgesehen von der Limitierung der Aktuatoren -ohne Einschränkungen nachgebildet werden. Im Vergleich zum Stand der Technik, aus dem bereits durch Knoten und Aktoren aufgebaute Strukturen bekannt sind, ist es hier erstmals gelungen, autonome formbare Zellen zu entwerfen, welche sich aktiv an den Seitenkanten verbinden können. In der vorliegenden Arbeit werden der mechatronische Aufbau und die Kinematik des Systems beschrieben. Aufgrund der vielen Drehgelenke und der 3D-gedruckten Bauteile aus Kunststoff sind eine merkliche Nachgiebigkeit und etwas Spiel vorhanden. Aus diesem Grund wurde ein Modell entwickelt, welches die Abweichungen der Bewegungen des zellularen Roboters von der Soll-Bewegung nachbildet und somit die Ansteuerung der einzelnen Zellen während des Bewegungsvorgangs erleichtert. Vergleiche zwischen dem Modell und Messungen am realen System mithilfe eines Motion-Tracking-Systems werden dargestellt. Der vorgestellte Ansatz liegt in weiten Teilen bereits auch in der räumlichen Form als Tetraeder vor, jedoch können mit diesem noch keine geschlossenen 3D-Strukturen realisiert werden. AbstractFor auditory and visual perception, virtual reality systems offer a high-resolution simulation of reality at low cost. To bring digitized objects even closer to reality, programmable structures are presented in this work, which should enable not only visual but also tactile perception. The foundation of the programmable structure is a cellular robot whose cells can both deform and connect independently. The triangular cells have an actuator on each side, which allows to create unstructured triangular meshes from a set of cells. Due to the unique shape of the joints, the meshes do not undergo any restriction apart from the limitation of the actuators. In comparison to the state of the art, where structures built up by nodes and links are known, it has been possible for the first time to design autonomous formable cells, which can connect themselves independently at the side edges. This paper describes the kinematics and the mechatronic design of the system. Due to many joints and the 3D-printed components, there is noticeable clearance and flexibility in the cells. For this reason, a model was developed which simulates the deviations of the mo...

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Current trends in reconfigurable modular robots design

Cited by 104 publications

References 77 publications

Electrically controllable connection and power transfer by electroadhesion

Electrically controllable connection and power transfer by electroadhesion

Automatic Couplings With Mechanical Overload Protection for Modular Robots

Aktiv rekonfigurierbares Robotersystem zum Aufbau geschlossener Strukturen in der Ebene

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