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Annual Conference of the IEEE Industrial Electronics Society

作者： Kaoru Mitsuhashi Yasuhiro Ohyama Hiroshi Hashimoto School of Engineering Department of Mechanical Eng. Tokyo University of Technology Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology

ISBN: (数字)9781479917624

ISBN: (纸本)9781479917631

The modular robot is constructed by the same shape and function module. The robot can transform and exchange, because it is multiple modules and function. In previous paper, we manufactured the module by 3D printer, and evaluated the mechanical function of the simple module and modular robot. In this paper, the module is miniaturized and joint parts are improved. Joint parts are used tenon joint in place of ball joint. Additionally, we confirmed the validity of the driving modular robot by comparing the previous.

关键词： modular robot 3D printer Miniaturization Tenon

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A Low-cost modular robot for Research and Education of Control Systems, Mechatronics and robotics

A Low-cost Modular Robot for Research and Education of Contr...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Zheng FANG Yanhua FU Tianyou CHAI Key Laboratory of Integrated Automation of Process Industry Northeastern University

ISBN: (纸本)9781424427994

modular robotics has been an active area of research for the last decade, which also could be an excellent platform for education. This paper describes the "NEUrobot", a modular, multi-functional robot, used in Hands-on practical of control theory, mechatronics and robotics taught to engineering students. We describe all aspects of the NEUrobot, including mechanism, control electronics;communication architecture and programming environment modular robot encourages the creativity and imagination of the students, while ensuring that the students put in practice fundamental laws of control they are taught in class. Notable innovations include the design of a new core servo unit module and an integrated programming environment supporting modeling, simulation, 3D visualization and rapid control prototyping. We show that NEUrobot could be an idea platform for research and education in robotics related specialty.

关键词： modular robot NEUrobot 3D simulation Rapid control prototyping

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The Kinematics Analysis of a Novel Self-Reconfigurable modular robot Based on Screw Theory

The Kinematics Analysis of a Novel Self-Reconfigurable Modul...

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2016 3rd International Conference on Mechanical, Industrial, and Manufacturing Engineering (MIME 2016)

作者： Yuehua Li Shiqiang Zhu Zewen Wang Luhan Zhang Xutai Ma Zhengzhe Cui Zhejiang University

This paper introduces our newly designed self-reconfigurable modular robot named Larva-Bot, which has two DOFs with intersecting rotation axis normal to each other. Each module has autonomous mobility, and can assemble with other modules to form various configurations. In this study, a typical 6-DOF structure, composed of Larva-Bots, is proposed to analyze the kinematic characteristics of the modular robot. The common kinematics model of the robot is based on the Denavit-Hartenberg(D-H) parameter method, while its inverse kinematics has inefficient calculation and complicated solutions. To solve the problems, the screw theory method is applied in this paper. The forward kinematics model is constructed by using the product of exponentials(POEs) formula, while the inverse kinematics analysis is based on Paden-Kahan Sub-problems. Finally, the reliability of the method has been proved by computations and simulation.

关键词： Larva-Bot modular robot Reconfigurable robot Screw theory POE Paden-Kahan Sub-problem

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Design and Development of modular Snake robot and Implementation of Locomotive Gaits 2

Design and Development of Modular Snake Robot and Implementa...

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2nd IEEE-Pune-Section Annual International Conference (IEEE PuneCon)

作者： Dalu, Shivraj S. Dalu, Pushkraj S. Pune India

ISBN: (纸本)9781728119243

Snake robots are one of the most versatile robots having multiple degrees of freedom which at the same time makes them complex to control. This paper presents the design and fabrication of modular snake robot, its electronic and software architecture, control and implementation of scripted locomotive gaits, and formulation of a novel gait particularly aimed at surveillance. this robot articulately mimics various cyclic gaits inherent to its biological counterpart as well as some contrived ones. [11]Each gait of the robot is obtained with sinusoidal oscillation which travels down the spine with various combinations of parameters: amplitude, frequency, phase, and offset.

关键词： Bio robotics snake robot biomimetics modular robot

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Working Space Analysis and Simulation of modular Service robot Arm Based on Monte Carlo Method

Working Space Analysis and Simulation of Modular Service Rob...

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International Conference on Mechanical Engineering and Green Manufacturing (MEGM) 2010

作者： Bin, He Lin, He Xiao Zhi, Han Li Tao, Cao Jin Ming, Li Zhong, Tian Ying Shanghai Univ Shanghai Key Lab Mech Automat & Robot Sch Mechatron Engn & Automat Shanghai 200072 Peoples R China

ISBN: (纸本)9780878492329

robot working space is an important kinematic indicator. After the modular service robot arm was introduced, DH coordinate system was used to build kinematics equations of 5-DOFs services robot arm. The whole working space model of the robot system was then established. Monte Carlo method was used to simulate the working space, which can straightforwardly and visually describe the working space of robot with high speed. It was indicated that the working points in the workspace of the robot were distributed compactly and uniformly, which can meet design requirements with high efficiency. The effectiveness of the working space model was testified by the simulation analysis on Matlab and experimental validation.

关键词： Monte Carlo method Service robot arm Working space modular robot

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Design and Control of Ant3DBot: A modular SelfReconfigurable robot 2

Design and Control of Ant3DBot: A Modular SelfReconfigurable...

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2nd IEEE-Industrial-Electronics-Society Annual On-Line Conference (ONCON)

作者： Hu, Xiaowen Niu, Sen Ye, Linqi Shanghai Univ Inst Artificial Intelligence Shanghai Peoples R China Tsinghua Shenzhen Int Grad Sch Shenzhen Peoples R China

ISBN: (纸本)9798350357974

This paper introduces an innovative modular self-reconfigurable robot named Ant3DBot, aiming to address the limitations of existing self-reconfigurable robots. Combining the advantages of wheeled and legged robots, Ant3DBot comprises four iron spheroid shells, telescopic legs, and internal magnets that can rotate around the center. Through a single motor, synchronous belt, and compressed springs, it can expand its shells and legs, forming distinct docking states. Moreover, the robot is equipped with multiple connector configurations, allowing it to operate flexibly in diverse environments. In its expanded state, Ant3DBot can easily traverse obstacles up to 8 cm in height and pass through an outdoor 25 degrees slope. For unstructured environments, multiple Ant3DBots can collaborate, reaching target points through simple control. Simulation and experimental results demonstrate that Ant3DBot performs remarkably, whether operating singly or in collaborative modes, accomplishing a variety of complex tasks, showcasing its excellent mobility and versatility.

关键词： Self-reconfigurable robot modular robot robot collaboration

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ROMERIN: A modular Climber robot for Infrastructure Inspection 8

ROMERIN: A Modular Climber Robot for Infrastructure Inspecti...

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8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS)

作者： Hernando, M. Brunete, A. Gambao, E. Univ Politecn Madrid CAR CSIC Madrid Spain

This paper presents some of the developments made in the construction of a modular climbing robot for infrastructure inspection. The development and optimization of independent vacuum generator systems for each leg is presented, with the flow-rate taking priority over the relative pressure. It also describes the general robot structure, as well as the initial mathematical models required for the development of a control system based on an biomimetic organic model. Finally, it is highlighted the use of simulators to help the iterative design process of a strongly mechatronic system. Some of the obtained results have been experimentally validated. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Climbing robots Vacuum Turbines modular robot Fluid Simulation

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ROMERIN: A modular Climber robot for Infrastructure Inspection

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IFAC-PapersOnLine 2019年第15期52卷 424-429页

作者： M. Hernando A. Brunete E. Gambao Centre for Automation and Robotics (CAR UPM-CSIC) Universidad Politecnica de Madrid Madrid Spain

关键词： Climbing robots Vacuum Turbines modular robot Fluid Simulation

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SnackBot: A modular miniature robot design and simulation

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INTERNATIONAL JOURNAL OF MODELING SIMULATION AND SCIENTIFIC COMPUTING 2024年第3期15卷

作者： Chen, Zhenmin Zhao, Chun Beijing Informat Sci & Technol Univ Inst Smart Mfg & Complex Syst ISMCS Comp Sch Beijing 100101 Peoples R China

modular robots carry the unique advantage of changing their shape according to different tasks and environments. In order to study the lightweight and flexible combination characteristics of modular robots, this paper presents a two-degree-of-freedom pluggable modular robot and its simulation method, named SnackBot. SnackBot is composed of several independently operating modules. Each module contains a control unit, a micro battery, and two DC motors that drive the module joints. In order to predict robot actions and monitor the state of the robot, the simulation model of SnackBot is built and a virtual environment is established in Ignition Gazebo. The virtual robot and physical robot are synchronously controlled in the environment of the robot Operating System 2 (ROS2). Finally, experimental results verify the feasibility of the SnackBot.

关键词： modular robot robot simulation Ignition

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Design and Development of modular Snake robot and Implementation of Locomotive Gaits

Design and Development of Modular Snake Robot and Implementa...

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IEEE Punecon

作者： Shivraj S. Dalu Pushkraj S. Dalu Pune India

ISBN: (数字)9781728119243

ISBN: (纸本)9781728119250

关键词： Bio robotics snake robot biomimetics modular robot modular robots Biomimetics robot Gait Degree of freedom Snakes locomotives sinusoidal oscillation travel modularity

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