Self-reconfiguration of PARTS: A parallel reconfiguration algorithm based on surface flow

Gerbl, Michael; Gerstmayr, Johannes

doi:10.1016/j.robot.2023.104417

Cited by 3 publications

(4 citation statements)

References 37 publications

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“…In previous self-reconfiguration frameworks for PARTS based on single module movement along the surface of the robot [16,17], the closing condition (see Section 3.2) was relaxed to allow kinematic loops with only three participating ATCs. Although this simplifies the reconfiguration approach, such a relaxation requires an edge elongation ratio of at least √ 3, which is not feasible with the existing hardware implementation of PARTS.…”

Section: Topological Reconfigurationmentioning

confidence: 99%

“…The reconfiguration workflow presented in Section 4.1 is employed on a sample configuration consisting of 62 ATCs. Similar to our previous work [17], the largest common topology is identified and source regions and sink regions for modules are determined. Source regions define topological locations with a surplus of ATCs, while sink regions are surface positions that need to be occupied to form the final configuration.…”

Section: Reconfiguration Examplementioning

confidence: 99%

“…More complex reconfigurations may rely on populating goal regions with fewer ATCs than those contained in a meta-module. The surface flow reconfiguration planning of our previous work [17] may still be employed, however, further extensions will be necessary to guarantee completion in such cases. A comprehensive reconfiguration algorithm must incorporate thorough planning to ensure that module demands are met and no single ATCs are left behind, incapable of movement without meta-module assistance.…”

Section: Reconfiguration Examplementioning

confidence: 99%

“…The Planar Adaptive Robot with Triangular Structure (PARTS) is a two-dimensional modular robot consisting of modules with a shape-shifting triangular geometry. In earlier work, we have constructed and improved a hardware prototype [14,15], conducted hardware modeling and calibration [14], and developed self-reconfiguration algorithms [16,17]. The unique system architecture allows the PARTS system to form space-filling, morphologically adaptable structures and realize extensive shape changes through self-reconfiguration.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

PARTS—A 2D Self-Reconfigurable Programmable Mechanical Structure

Gerbl,

Pieber,

Ulrich

et al. 2024

Robotics

Self Cite

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Modular self-reconfigurable robots hold the promise of being capable of performing a wide variety of tasks. However, many systems fall short of either delivering this promised functionality due to constraints in system architecture or validating it on functional hardware prototypes. This paper demonstrates the functional capabilities of the Planar Adaptive Robot with Triangular Structure (PARTS) and documents the versatility of this robot system using a holistic approach that combines simulations and hardware demonstrations on a prototype with nine fabricated modules. PARTS is a two-dimensional modular robot consisting of modules with a shape-shifting triangular geometry capable of forming adaptable space-covering structures. Meta-modules and mesh restructuring techniques are presented as methods for achieving topological self-reconfiguration. The feasibility of these methods is demonstrated by applying them on a simulated reconfiguration example of 62 modules. The paper showcases the versatility of PARTS on the hardware prototype using task-specific configurations, including locomotion using a meta-module and a walker configuration, module-module interaction by establishing a bridge between two separated module clusters, and interaction with the environment using a gripper and supporting structure configuration. The results validate the versatility and emphasize the potential of the system’s design concept, motivating the transfer of the hardware architecture to the third dimension.

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Section: Topological Reconfigurationmentioning

confidence: 99%

Section: Reconfiguration Examplementioning

confidence: 99%

Section: Reconfiguration Examplementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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PARTS—A 2D Self-Reconfigurable Programmable Mechanical Structure

Gerbl,

Pieber,

Ulrich

et al. 2024

Robotics

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A Self-Reconfiguration Algorithm for Sliding Triangular Modular Robots

Odem,

Medina

2024

IEEE Robot. Autom. Lett.

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Six-Bar Linkages With Compliant Mechanisms for Programmable Mechanical Structures

Pieber,

Gerstmayr

2023

Journal of Mechanisms and Robotics

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Programmable mechanical structures are formed by autonomous and adaptive cells and can reproduce meshes known from the finite element method. Furthermore, they can change their structure not only through morphing, but also by self-reconfiguration of the cells. A crucial component of the cells, which can preserve the underlying geometry of a triangular mesh, are six-bar linkages. The main part of the present contribution concerns the six-bar linkages as a fully 3D-printable compliant mechanism where each revolute joint of the six-bar linkage is replaced with a notch flexure hinge with circular contour. There are two key drawbacks associated with the use of notch flexure hinges, namely, compliance in the flexure hinges and the fact that the center of rotation is not maintained. For self-reconfiguration of the cells, an efficient model is needed to predict the positioning errors. Therefore, the flexure hinge is represented by three distinct models, namely a finite element model, a beam model, and a simplified linearized model based on translational and rotational spring elements. These models are compared and evaluated in succession first to identify the parameters of the simplified model and later on, the simplified model is used to show the deviations of a medium-scaled programmable structure with respect to the idealized behavior. The current work brings us closer to both the development of programmable mechanical structures and the prediction of positioning errors during self-reconfiguration.

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Self-reconfiguration of PARTS: A parallel reconfiguration algorithm based on surface flow

Cited by 3 publications

References 37 publications

PARTS—A 2D Self-Reconfigurable Programmable Mechanical Structure

PARTS—A 2D Self-Reconfigurable Programmable Mechanical Structure

A Self-Reconfiguration Algorithm for Sliding Triangular Modular Robots

Six-Bar Linkages With Compliant Mechanisms for Programmable Mechanical Structures

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