Design of a Four-DOF Modular Self-Reconfigurable Robot With Novel Gaits

2011 ◽  
Author(s):  
Khoa D. Chu ◽  
S. G. M. Hossain ◽  
Carl A. Nelson
Keyword(s):  
Degrees Of Freedom ◽  
Radio Communication ◽  
Reconfigurable Robots ◽  
Docking Mechanism ◽  
Reconfigurable Robot ◽  
Kinematic Transformations ◽  
A Chain ◽  
The Individual ◽  
Forward Kinematic ◽  
Chain Type

Throughout the modern age, exploration of the unknown has been an attractive pursuit to seekers of knowledge. One of the primary frontiers for exploration today involves planetary and lunar environments. Exploration in these environments can involve many different types of tasks in a broad range of environmental conditions. Modular Self-Reconfigurable Robots (MSRs) would be beneficial for completing these tasks in unstructured environments, while having the ability to complete multiple assigned functions. Since payload is a critical concern, a lighter and more dexterous MSR is preferable. This research focuses on the design of a robot that has these qualities. A chain-type modular robot with four degrees of freedom per module has been designed with the goal of reducing weight and size while increasing range of motion. Forward kinematic transformations were derived to analyze the available workspace provided by the MSR. Radio communication and proximity sensing ability were provided in the individual MSR modules to locate each other. The modules are designed to maneuver independently using their individual navigation capability as well as connect to each other by means of a docking mechanism. Locomotion gaits for such multi-module robot chains are also described.

Kinematics and Interfacing of ModRED: A Self-Healing Capable, 4DOF Modular Self-Reconfigurable Robot

2014 ◽  
Vol 6 (4) ◽  
Author(s):  
S. G. M. Hossain ◽  
Carl A. Nelson ◽  
Khoa D. Chu ◽  
Prithviraj Dasgupta
Keyword(s):  
Degrees Of Freedom ◽  
Singularity Analysis ◽  
Self Healing ◽  
Modular Robot ◽  
Reconfigurable Robots ◽  
Docking Mechanism ◽  
Rotary Plate ◽  
Working Principle ◽  
Kinematic Transformations ◽  
Forward Kinematic

Modular self-reconfigurable robots (MSRs) are systems which rely on modularity for maneuvering over unstructured terrains, while having the ability to complete multiple assigned functions in a distributed way. An MSR should be equipped with robust and efficient docking interfaces to ensure enhanced autonomy and self-reconfiguration ability. Genderless docking is a necessary criterion to maintain homogeneity of the robot modules. This also enables self-healing of a modular robot system in the case of a failed module. The mechanism needs to be compact and lightweight and at the same time have sufficient strength to transfer loads from other connected modules. This research focuses on the design of a modular robot with four degrees of freedom (4DOF) per module and with the goal of achieving higher workspace flexibility and self-healing capability. To explain the working principle of the robot, forward kinematic transformations were derived and workspace and singularity analysis were performed. In addition, to address the issues of interfacing, a rotary plate genderless single-sided docking mechanism—RoGenSiD—was developed. The design methodology included considerations for minimal space and weight as well as for fault tolerance. As a result, this docking mechanism is applicable for multifaceted docking in lattice-type, chain-type, or hybrid-type MSR systems. Several locomotion gaits were proposed and bench-top testing validated the system performance in terms of self-healing capability and generation of locomotion gaits.

RoGenSiD: A Rotary Plate Genderless Single-Sided Docking Mechanism for Modular Self-Reconfigurable Robots

2013 ◽  
Author(s):  
S. G. M. Hossain ◽  
Carl A. Nelson ◽  
Prithviraj Dasgupta
Keyword(s):  
Design Methodology ◽  
Self Healing ◽  
Robot System ◽  
Reconfigurable Robots ◽  
Docking Mechanism ◽  
Rotary Plate ◽  
Reconfigurable Robot ◽  
Multiple Robot ◽  
Sufficient Strength ◽  
Chain Type

Docking mechanisms are an integral part of modular self-reconfigurable robot (MSR) systems, allowing multiple robot modules to attach to each other. An MSR should be equipped with robust and efficient docking interfaces to ensure enhanced autonomy and self-reconfiguration ability. Genderless docking is a necessary criterion to maintain homogeneity of the robot modules. This also enables self-healing of a modular robot system in the case of a failed module. The mechanism needs to be compact and lightweight and at the same time have sufficient strength to transfer loads from other connected modules. RoGenSiD is a rotary-plate genderless single sided docking mechanism that was designed to perform robustly and efficiently considering its application in unstructured terrains. The design methodology followed design for manufacture (DFM) and design for assembly (DFA) guidelines as well as considerations for minimal space and weight. As a result, this docking mechanism is applicable for multi-faceted docking in lattice-type, chain-type, or hybrid MSR systems. Bench-top testing validated the system performance.

A Genderless Coupling Mechanism With Six-Degrees-of-Freedom Misalignment Capability for Modular Self-Reconfigurable Robots

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Wael Saab ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Degrees Of Freedom ◽  
High Strength ◽  
Robotic Systems ◽  
Critical Element ◽  
Coupling Mechanism ◽  
Six Degrees Of Freedom ◽  
Reconfigurable Robots ◽  
Docking Mechanism ◽  
Fail Safe ◽  
Coupling Mechanisms

Abstract This paper presents the design and integration of a genderless coupling mechanism for modular self-reconfigurable mobile robots. Modular self-reconfigurable mobile robotic systems consist of a number of self-sufficient modules that interconnect via coupling mechanisms and adopt different configurations to modify locomotion and/or manipulation capabilities. Coupling mechanisms are a critical element of these robotic systems. This paper focuses on a docking mechanism called GHEFT: a Genderless, High-strength, Efficient, Fail-safe, and high misalignment Tolerant coupling mechanism that aids self-reconfiguration. GHEFT provides a high strength and energy efficient connection using nonback drivable actuation with optimized clamping profiles that tolerate translational and angular misalignments. It also enables engagement/disengagement without gender restrictions in the presence of one-sided malfunction. The detailed design of the proposed mechanism is presented, including optimization of the clamping profile geometries. Experimental validation of misalignment tolerances and achievable clamping forces and torques is performed to demonstrate the strength, efficiency, and fail-safe capabilities of the proposed mechanism, and these results are compared to reported results of some of the existing coupling mechanisms.

scholarly journals Docking Design of Self-Reconfigurable Robot

10.5772/45709 ◽  
2011 ◽  
Vol 8 (5) ◽  
pp. 70 ◽  
Author(s):  
Yanqiong Fei
Keyword(s):  
Equilibrium Condition ◽  
The Self ◽  
Static Equilibrium ◽  
Geometric Method ◽  
The Novel ◽  
Basic Module ◽  
Reconfigurable Robots ◽  
Docking Mechanism ◽  
Reconfigurable Robot

Docking design of self-reconfigurable robots is studied. Firstly, the self-reconfigurable robot is presented. Its basic module is designed, which is composed of a central cube and six rotary arms. Then, the novel docking mechanism of each module is designed. It is critical for the self-reconfigurable robot to discard any faulty modules for the self-repairing actions. The docking process is analyzed with the geometric method. The docking forces between two modules are described with the static equilibrium condition and the small motion's method. It shows that the reliability of the connection will be increased when the module's weight G is increased. It is important to finish the docking action in the self-reconfigurable robot. At last, a simulation of six-module and an experiment of three-module show that the modules can finish the docking process effectively.

PREPARING PUBLIC SERVANTS IN EUROPEAN COUNTRIES: ARCHETYPAL APPROACH

2018 ◽  
Vol 1 (14) ◽  
pp. 255-263
Author(s):  
Oleh Ivanovich Rohulskyi
Keyword(s):  
Public Administration ◽  
Public Service ◽  
Professional Training ◽  
European Countries ◽  
Anglo Saxon ◽  
Public Servants ◽  
German Model ◽  
Managerial Positions ◽  
A Chain ◽  
The Individual

The article describes the main components of the institutional framework of an archetypical approach to public administration. It is determined that the system of preparation of public servants is based on a chain of universal foundations of archetype, in particular, it is influenced by the principle of formation of personnel in the public service, formed on the basis of public opinion. Based on two basic principles relating to admission to public service, three basic models of training civil servants in the European country are defined: German. French and Anglo-Saxon. We analyze each of the models and define the archetypes that influenced their formation and development. The advantages of each model are determined, in particular, the benefits are: the German model of training managers is the balancing between the theoretical knowledge and practical skills that a public servant receives during training, but as a disadvantage one can distinguish the orientation of preparation for legal orientation, which limits the ability to hold managerial positions for many employees The French model of professional training of public servants should include a well-balanced understanding of tasks, namely: decentralization and territorial organization of public services, communication, support of territorial communities, in-depth knowledge and understanding of the need for cooperation with institutions of the European Commonwealth, high-quality human resource management and orientation towards environmentally friendly innovations, such a model of training of public servants is holistic, costly and effective; The Anglo-Saxon model of training of public servants is its orientation towards the implementation of the concept of public administration and the individual approach to employee training, taking into account all the specifics of its activities, providing for the formation of personnel capable of solving specific problems. It is concluded that today in most European countries dominated by mixed models that include elements of different models.

A Hybrid Highly Parallelizable Algorithm for the Dynamics of Rigid Body Chain Systems

1999 ◽  
Author(s):  
Shanzhong Duan ◽  
Kurt S. Anderson
Keyword(s):  
Rigid Body ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Equations Of Motion ◽  
Constraint Forces ◽  
Dynamics Of Rigid Body ◽  
A Chain ◽  
Explicit Determination ◽  
Order Algorithm

Abstract The paper presents a new hybrid parallelizable low order algorithm for modeling the dynamic behavior of multi-rigid-body chain systems. The method is based on cutting certain system interbody joints so that largely independent multibody subchain systems are formed. These subchains interact with one another through associated unknown constraint forces f¯c at the cut joints. The increased parallelism is obtainable through cutting the joints and the explicit determination of associated constraint loads combined with a sequential O(n) procedure. In other words, sequential O(n) procedures are performed to form and solve equations of motion within subchains and parallel strategies are used to form and solve constraint equations between subchains in parallel. The algorithm can easily accommodate the available number of processors while maintaining high efficiency. An O[(n+m)Np+m(1+γ)Np+mγlog2Np](0<γ<1) performance will be achieved with Np processors for a chain system with n degrees of freedom and m constraints due to cutting of interbody joints.

A Local Approach for Computing Smooth B-spline Surfaces for Arbitrary Quadrilateral Base Meshes

2021 ◽  
pp. 1-28
Author(s):  
Dennis Mosbach ◽  
Katja Schladitz ◽  
Bernd Hamann ◽  
Hans Hagen
Keyword(s):  
Degrees Of Freedom ◽  
Tangent Plane ◽  
Local Approach ◽  
Approximation Process ◽  
Surface Approximation ◽  
B Spline ◽  
Spline Surfaces ◽  
Continuous Surface ◽  
Normal Vectors ◽  
The Individual

Abstract We present a method for approximating surface data of arbitrary topology by a model of smoothly connected B-spline surfaces. Most of the existing solutions for this problem use constructions with limited degrees of freedom or they address smoothness between surfaces in a post-processing step, often leading to undesirable surface behavior in proximity of the boundaries. Our contribution is the design of a local method for the approximation process. We compute a smooth B-spline surface approximation without imposing restrictions on the topology of a quadrilateral base mesh defining the individual B-spline surfaces, the used B-spline knot vectors, or the number of B-spline control points. Exact tangent plane continuity can generally not be achieved for a set of B-spline surfaces for an arbitrary underlying quadrilateral base mesh. Our method generates a set of B-spline surfaces that lead to a nearly tangent plane continuous surface approximation and is watertight, i.e., continuous. The presented examples demonstrate that we can generate B-spline approximations with differences of normal vectors along shared boundary curves of less than one degree. Our approach can also be adapted to locally utilize other approximation methods leading to higher orders of continuity.

Controlling Modular Reconfigurable Robots With Handheld Smart Devices

2011 ◽  
Author(s):  
David Ko ◽  
Nalaka Kahawatte ◽  
Harry H. Cheng
Keyword(s):  
Graphical User Interface ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Effective Control ◽  
Smart Devices ◽  
Modular Robots ◽  
Reconfigurable Robots ◽  
Processing Power ◽  
Static Data ◽  
Remote Controller

Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a versatile Graphical User Interface, a set of libraries and tools have been developed which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than a considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller’s ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through an obstacle course.

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