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Sebimohan Mathew Roll No: 47 S7L

This document discusses self-reconfigurable modular robots composed of multiple robotic units that can autonomously change their shape and size. The key challenges in designing such robots are developing modules and connectors that can dock, communicate, share power, and sense their environment. The document describes the mechanical and hardware design of a sample modular robot composed of linked cube units. It also classifies modular robotic systems based on their geometric arrangements and reconfiguration methods. Applications discussed include space exploration, telepresence, and carrying various payloads.

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27 views22 pages

Sebimohan Mathew Roll No: 47 S7L

This document discusses self-reconfigurable modular robots composed of multiple robotic units that can autonomously change their shape and size. The key challenges in designing such robots are developing modules and connectors that can dock, communicate, share power, and sense their environment. The document describes the mechanical and hardware design of a sample modular robot composed of linked cube units. It also classifies modular robotic systems based on their geometric arrangements and reconfiguration methods. Applications discussed include space exploration, telepresence, and carrying various payloads.

Uploaded by

sebimohm
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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SEBIMOHAN MATHEW Roll No: 47 S7L

INTRODUCTION
Robots made of multiple units
Possibility of (self) reconfiguration Autonomously change their shape and size

Versatility, robustness against lesions


Some similarity with multi-cellular biological systems When task and environment are not fully known they

can out-perform fixed shape robots Building and controlling very difficult

6 SELF-RECONFIGURABLE MODULES

DESIGN CONSIDERATIONS
Modules and connectors must cover their internal

electronic and mechanical components Modules must have enough dexterity Modules must have enough torque Modules must cognizant of their environment through a series of sensors Power should be efficiently used and managed The control software needed to be real-time , fault tolerant and scalable

DESIGN CONSIDERATIONS OF CONNECTORS


Connectors must be genderless
Two docked connectors could be oriented relative to

each other in 90 intervals Connectors must support communication and power sharing Either side of the two docked connectors must be able to unlock Connectors must sense and guide docking process

SINGLE MODULE WITH CONNECTORS

MECHANICAL DESIGN
In the form of linked cubes
Cube dimension 848484 mm Hard aluminum alloy used

Weigh about 500 grams

HARDWARE CONTROL ARCHETECTURE

MASTER CONTROLLER ARCHITECTURE

SLAVE CONTROLLER ARCHITECTURE

SOFTWARE ARCHETECTURE
Low level software
Behavioral level software Remote client software

CATERPILLAR ROBOT TO 4 LEG WALKER

CLASSIFICATION OFMODULAR SELFRECONFIGURING ROBOTIC SYSTEM


Based on Geometric arrangement

Lattice architectures Chain/tree architecture Deterministic reconfiguration Stochastic reconfiguration

Based on the way by which units are reconfigured


LATTICE BASED DESIGNS

CHAIN BASED DESIGNS

LATTICE OR CHAIN ?
Lattice based designs Reconfiguration is easy Motion generation is hard Requires many connectors & actuators Chain based designs Reconfiguration is hard Motion generation is easy Insufficient stiffness

CONFIGURATIONS AND POTENTIAL FUNCTIONS

ARTIST RENDITION OF A SPACE APPLICATION OF MODULAR ROBOTICS

ADVANTAGES
Versatility
Robustness Low Cost

APPLICATIONS
Space exploration
Telepario Bucket of stuff

CONCLUSION

REFRENCE

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