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Design And Implementation Of Metamorphic Robots
Abstract and Figures
This paper discusses issues in the design and implementation of metamorphic robotic systems. A metamorphic robotic system is a collection of independently controlled mechatronic modules, each of which has the ability to connect, disconnect, and climb over adjacent modules. A metamorphic system can dynamically reconfigure by the locomotion of modules over their neighbors. Thus they can be viewed as a collection of connected modular robots which act together to perform the given task. The planar metamorphic robots described in this paper consist of hexagonal or square modules. Because of their shape, the modules completely fill the plane without any gaps, their centers forming a regular lattice. Both the hexagonal and square modules are provided with electromechanical coupling mechanisms actuated by D.C. motors. These connectors help to couple and uncouple modules as they move around each other to form different configurations. The modules are currently controlled by an external processo...
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... This robot also has potential to be used as to build a bridge structure for transporting cargo across a gap. There were four prototype modules that have been built[11][12][13]. ...
... The cubes can be rotated, translated simultaneously in two direction, and also act as pivot joint for a moving link. These type of robots are very ptential to move over obstacles, climb stairs, traverse through tunnels and pipes, manipulate objects, formbridges and towers, and be utilized for space applications [12][13][14]. The name CONRO was taken from the (CONfigurable RObot)(Castano etal, 2000). ...
... The modules are self-sufficient, homogenous, autonomus, three-dimensional, and form into chain-like structures. The modules are connected by using a pin/hole mechanism[13][14][15]. xi. ...
There seem to be a lot of robots that have been built up until today. Basically, the creation of robot is supposed to be a helper for a human. Robot will replace human whenever the task is really difficult or dangerous to be done by human. Recently, the robots that have been created were made reconfigurable. The purpose is to make the robot to function in more type of surroundings rather than only one surrounding. With this ability, the robot can be more useful to human, and less number of robot is required to complete a certain task. This report emphasizes on the reconfigurable robot project, where in this report, the robot that has been created is using the walking motion. It presents a description with pictures and construction drawings of a four-leg reconfigurable robot. Abstract-There seem to be a lot of robots that have been built up until today. Basically, the creation of robot is supposed to be a helper for a human. Robot will replace human whenever the task is really difficult or dangerous to be done by human. Recently, the robots that have been created were made reconfigurable. The purpose is to make the robot to function in more type of surroundings rather than only one surrounding. With this ability, the robot can be more useful to human, and less number of robot is required to complete a certain task. This report emphasizes on the reconfigurable robot project, where in this report, the robot that has been created is using the walking motion. It presents a description with pictures and construction drawings of a four-leg reconfigurable robot.
... Yim [21] put forward the concept of the self-reconfigurable robot, of which the locomotion modes can be switched among rolling, crawling and walking. The idea was also applied in a metamorphic robotic system [22]. However, self-reconfiguration robots have very large DOF (degree-of-freedom) and are not easy to control. ...
A novel reconfigurable tri-prism mobile robot with eight modes is proposed. The robot is composed of two feet connected by three U-R-U (universal-revolute-universal) limbs. The robot incorporates the kinematic properties of sphere robots, squirming robots, tracked robots, wheeled robots and biped robots. In addition, the somersaulting and turning modes are also explored. After the description of the robot, the DOF (degree-of-freedom) is calculated based on screw theory. The 3D model and simulations indicate that the robot can cross several typical obstacles and can also be folded via two approaches. Finally, the prototype experiments are presented to verify the feasibility of the proposed mobile robot in different motion mode.
... A segment has two connection plates with 2 D.O.F .The node has 6 connection plates with no D.O.F. 2.3 Metamorphic (1993): Metamorphic robots [27] are two-dimensional, homogeneous, lattice-based reconfigurable robots with a hexagon or square-shaped modules, as illustrated in Figure 2. A module having performs locomotion by rolling or sliding over neighboring modules. Each module can perform attached or detached from neighboring modules with mechanical hooks or electromagnets Hexagon modules are rolled over their neighbors whereas square modules slide over their neighbors in a vertical, horizontal, or diagonal direction. ...
Robot are constructed with rigid parts and donot change shape shift easily. But our reconfigurable robot has been designing that have modules or components that can become together in various ways. Robots are creating not only different shapes, but different shaped robot bodies that can be moved around. Individual robot module to be required a certain amount of intelligence to know their state and role at various times and various configurations. In some cases, the modules are align the same type(homogeneous) ,while in others are not in same module (heterogeneous). Reconfigurable robot that can be autonomously decided when and how to change their shape are called reconfigurable robot. In our humanoid robot, some bodies can change the shape very easy,and other is so difficult or complicated.Humanoid have large number of degrees of freedom. Ever Since the late 1980's, many systems of reconfigurable robots have been developed. Following the survey of the various robot modules, a general discussion of reconfigurable robots is given, summarizing the main features and concerns of physical characteristics,locomotion,capabilities,applications, challenges and opportunities of reconfigurable robot research.
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 the circular contour. The utilization of notch flexure hinges presents two significant drawbacks. First, notch flexure hinges do not maintain the center of rotation. Second, although compliance is an inherent and desirable characteristic of flexural hinges, it gives rise to secondary or parasitic motion. The compliance subsequently lead to alterations in the underlying geometry of a triangular mesh. 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.
We propose a new meta-module design for two important classes of modular robots. The new meta-modules are three-dimensional, robust and compact, improving on the previously proposed ones. One of them applies to so-called edge-hinged modular robot units, such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, while the other one applies to so-called central-point-hinged modular robot units, which include Molecubes and Roombots. The new meta-modules use the rotational degrees of freedom of these two types of robot units in order to expand and contract, as to double or halve their length in each of the two directions of its three dimensions, therefore simulating the capabilities of Crystalline and Telecube robots. Furthermore, in the edge-hinged case we prove that the novel meta-module can also perform the scrunch, relax and transfer moves that are necessary in any tunneling-based reconfiguration algorithm for expanding/contracting modular robots such as Crystalline and Telecube. This implies that the use of meta-meta-modules is unnecessary, and that currently existing efficient reconfiguration algorithms can be applied to a much larger set of modular robots than initially intended. We also prove that the size of the new meta-modules is optimal and cannot be further reduced.
Supplementary information:
The online version supplementary material available at 10.1007/s10514-021-09977-6.
The modular robotics offers various advantages in relative to traditional robotic solutions for real world scenarios due to application specific nature and limited flexibilities of later. The low cost robust capabilities of the modular systems inspired researchers of swarm robotics, automation etc. to research modular robotics for developing affordable and capable systems to various applications in surveillance, disaster management etc. The research work in modular robotics so far is limited to laboratory prototyping and the development is yet to take complete form for real world applications. In this paper, a design of modular unit named “SQ-BOT” suitable for practical applications is proposed along with model simulations and hardware experiments.
Nature is the source of inspiration for human invention. As known to all, allotropes of carbon include diamond, graphite and charcoal, all with the same component unit. Inspired by this, we propose a conceptual design of the Diamobot, which is a homogeneous modular robot, with a diamond-like lattice. It can metamorphose as a quite different lattice-type modular robot, with a steadier skeleton than others. Besides, it can be used as a chain-type modular robot, and meanwhile, has a variety of mobile robot configurations. Passive complaint universal joints are equipped to each module, which can greatly enhance the Diamobot’s reconfigurability. In this paper, the Diamobot’s characteristics will be discussed, including the design features, kinematics and metamorphosis with a number of modules.
This chapter examines self-assembly
and self-configuring
at different scales
from molecular to macro systems. Case studies refer to biochemical systems and to self-reconfiguring robots. The relation between flexible
self-assembling of tiles and computing is outlined. Computation in living cells is correlated to permutation
trees
. Configuration trees
, shifted
shapes
and skew strips shapes allow the study of metamorphic robotic systems as collections of modules that can dynamically self-reconfigure.
A metamorphic robotic system is a collection of mechatronic
modules, each of which has the ability to connect, disconnect, and climb
over adjacent modules. A change in the macroscopic morphology results
from the locomotion of each module over its neighbors. That is, a
metamorphic system can dynamically self-reconfigure. Metamorphic systems
can therefore be viewed as a large swarm of physically connected robotic
modules which collectively act as a single entity. What separates
metamorphic systems from other reconfigurable robots is that they
possess all of the following properties: (1) self-reconfigurability
without outside help; (2) a large number of homogeneous modules; and (3)
physical constraints ensure contact between modules. In this paper, the
kinematic constraints governing a particular metamorphic robot are
addressed
Modular robots can be defined as reconfigurable mechanical arms which can be automatically controlled using suitable motion control software. In this article, a generalized kinematic modeling method is presented for such modular robots. This method can be used to derive the individual kinematic models of all the mechanical elements that make up the inventory of modular units, independently of their geometry and sequence of assembly into a robot. A general procedure is also presented to derive a global kinematic model of any robot configured using these modular units. The kinematic modeling technique of the units is based on Denavit-Hartenberg (D-H) parameter notation. A provision is also presented for converting “non D-H” parameter transformations, obtained in assembling the kinematic chain, into D-H transformations. This D-H conversion feature allows the modeling technique to preserve its generality when a kinematic model is obtained for the specific robot configuration at hand. The conceptual design of modular robot units that is under development in the Computer Integrated Manufacturing Laboratory (CIML) is also presented to show the feasibility of a modular approach to robot design and to clarify some of the mathematical for mulations developed in the article.
The authors consider the specific problems most likely to be
critical to progress in distributed robotic systems. This perspective
suggests that the most promising approach to the design of practical
algorithms for complex tasks might be to develop hybrid solutions
comprising three stages: (1) use of interacting many-body techniques to
form one dimensional substructures in continuous space; (2) application
of cellular robot systems techniques to reconfigure the substructure
with the desired qualities; and (3) application of standard control
theory techniques for maintaining the configuration during subsequent
operation
The concept of the DRRS (dynamically reconfigurable robotic
system) based on a cell structure is proposed for the next generation of
robotic systems. The system can reorganize its configuration and its
software to a given task, so that its level of flexibility and
adaptability is much higher than that of the conventional robots. It
consists of a lot of intelligent cells that have a fundamental
mechanical function. Each cell can detach itself and recombine
autonomously, depending on a task, e.g. To provide manipulators or
mobile robots. The system can also be self-repairing and fault-tolerant.
A decision method for cell-structured-manipulator configurations is
proposed
This paper investigates new modes of robot land locomotion, in
particular statically stable non-wheeled, non-tracked locomotion. These
locomotion gaits are accomplished by a reconfigurable modular robot
called Polypod using a control scheme combining a small number of
primitive control modes for each module. The design of Polypod is first
reviewed, then two and three-dimensional locomotion gaits are described
along with two “exotic” gaits. These gaits have been
implemented on Polypod or simulated on a graphic workstation