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    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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    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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    5 views22 pages

    Sebimohan Mathew Roll No: 47 S7L

    Uploaded by

    sebimohm
    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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    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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