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.

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.

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.

scholarly journals A DESIGNATION OF MODULAR MOBILE RECONFIGURABLE PLATFORM SYSTEM

2020 ◽  
Vol 20 (09) ◽  
pp. 2040006
Author(s):  
YUBIN LIU ◽  
RUOPENG WEI ◽  
HUIJUAN DONG ◽  
YANHE ZHU ◽  
JIE ZHAO
Keyword(s):  
Mobile Robots ◽  
Single Unit ◽  
High Mobility ◽  
Robot System ◽  
Reconfigurable Robots ◽  
Reconfigurable Robot ◽  
Reconfigurable Platform ◽  
Platform System ◽  
Multiple Units ◽  
Functional Versatility

Mobile robots working in special environment have to adapt for unknown and complex environment characteristics, so high mobility, functional versatility and robustness of mobile robots are required. Different from specialized robot designed for single function in single environment, single unit of modular reconfigurable robots has simple mechanical structure, flexible movement and maneuverability; meanwhile, the combination of multiple units has flexible and versatile configuration, combined with distributed control and swarm intelligence algorithm to gain environmental adaptability and functional versatility of the entire reconfigurable robot system. Single unit of modular mobile reconfigurable robots could complete lightweight tasks such as transporting medicines, distributing and accompanying nurses. Meanwhile, the combination of multiple units could complete heavyweight tasks such as transporting patients and large medical equipment. Modular mobile reconfigurable robot system has broad application prospects in the field of medical auxiliary robots.

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.

scholarly journals Power efficiency estimation based health monitoring and fault detection of modular and reconfigurable robot

2021 ◽  
Author(s):  
Jing Yaun
Keyword(s):  
Fault Detection ◽  
Health Monitoring ◽  
Power Efficiency ◽  
Joint Torque ◽  
Robot System ◽  
Operation Conditions ◽  
Efficiency Estimation ◽  
Joint Torque Sensor ◽  
Reconfigurable Robot ◽  
Critical Components

Power efficiency degradation of machines often provides intrinsic indication of problems associated with their operation conditions. Inspired by this observation, in this thesis work, a simple yet effective power efficiency estimation base health monitoring and fault detection technique is proposed for modular and reconfigurable robot with joint torque sensor. The design of the Ryerson modular and reconfigurable robot system is first introduced, which aims to achieve modularity and compactness of the robot modules. Critical components, such as the joint motor, motor driver, harmonic drive, sensors, and joint brake, have been selected according to the requirement. Power efficiency coefficients of each joint module are obtained using sensor measurements and used directly for health monitoring and fault detection. The proposed method has been experimentally tested on the developed modular and reconfigurable robot with joint torque sensing and a distributed control system. Experimental results have demonstrated the effectiveness of the proposed method.

A Hierarchically Structured Collective of Coordinating Mobile Robots Supervised by a Single Human

2014 ◽  
pp. 1142-1164
Author(s):  
Choon Yue Wong ◽  
Gerald Seet ◽  
Siang Kok Sim ◽  
Wee Ching Pang
Keyword(s):  
User Interface ◽  
Graphical User Interface ◽  
Situation Awareness ◽  
Search And Rescue ◽  
Cognitive Workload ◽  
Urban Search And Rescue ◽  
Robot System ◽  
Rescue Robots ◽  
Multiple Robot ◽  
Careful Management

Using a Single-Human Multiple-Robot System (SHMRS) to deploy rescue robots in Urban Search and Rescue (USAR) can induce high levels of cognitive workload and poor situation awareness. Yet, the provision of autonomous coordination between robots to alleviate cognitive workload and promote situation awareness must be made with careful management of limited robot computational and communication resources. Therefore, a technique for autonomous coordination using a hierarchically structured collective of robots has been devised to address these concerns. The technique calls for an Apex robot to perform most of the computation required for coordination, allowing Subordinate robots to be simpler computationally and to communicate with only the Apex robot instead of with many robots. This method has been integrated into a physical implementation of the SHMRS. As such, this chapter also presents practical components of the SHMRS including the robots used, the control station, and the graphical user interface.

Technology jump in the industry: human–robot cooperation in production

2020 ◽  
Vol 47 (5) ◽  
pp. 757-775
Author(s):  
Zoltan Dobra ◽  
Krishna S. Dhir
Keyword(s):  
Design Methodology ◽  
Manufacturing Industry ◽  
Current Status ◽  
Robot System ◽  
Content Type ◽  
New Directions ◽  
Academic Publications ◽  
Robot Cooperation ◽  
Human Robot Collaboration ◽  
Practical Implications

Purpose Recent years have seen a technological change, Industry 4.0, in the manufacturing industry. Human–robot cooperation, a new application, is increasing and facilitating collaboration without fences, cages or any kind of separation. The purpose of the paper is to review mainstream academic publications to evaluate the current status of human–robot cooperation and identify potential areas of further research. Design/methodology/approach A systematic literature review is offered that searches, appraises, synthetizes and analyses relevant works. Findings The authors report the prevailing status of human–robot collaboration, human factors, complexity/ programming, safety, collision avoidance, instructing the robot system and other aspects of human–robot collaboration. Practical implications This paper identifies new directions and potential research in practice of human–robot collaboration, such as measuring the degree of collaboration, integrating human–robot cooperation into teamwork theories, effective functional relocation of the robot and product design for human robot collaboration. Originality/value This paper will be useful for three cohorts of readers, namely, the manufacturers who require a baseline for development and deployment of robots; users of robots-seeking manufacturing advantage and researchers looking for new directions for further exploration of human–machine collaboration.

Sharing Experience for Behavior Generation of Real Swarm Robot Systems Using Deep Reinforcement Learning

2019 ◽  
Vol 31 (4) ◽  
pp. 520-525 ◽  
Author(s):  
Toshiyuki Yasuda ◽  
Kazuhiro Ohkura ◽  
◽  
Keyword(s):  
Reinforcement Learning ◽  
Collective Behavior ◽  
Design Methodology ◽  
Learning Performance ◽  
Centralized Control ◽  
Robot System ◽  
Swarm Robots ◽  
Robot Systems ◽  
Swarm Robot ◽  
Typical Design

Swarm robotic systems (SRSs) are a type of multi-robot system in which robots operate without any form of centralized control. The typical design methodology for SRSs comprises a behavior-based approach, where the desired collective behavior is obtained manually by designing the behavior of individual robots in advance. In contrast, in an automatic design approach, a certain general methodology is adopted. This paper presents a deep reinforcement learning approach for collective behavior acquisition of SRSs. The swarm robots are expected to collect information in parallel and share their experience for accelerating their learning. We conducted real swarm robot experiments and evaluated the learning performance of the swarm in a scenario where the robots consecutively traveled between two landmarks.

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