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Modular-robotic structures for scalable collective actuation

Published online by Cambridge University Press:  30 October 2015

Jakub Lengiewicz ,
Michał Kursa  and
Paweł Hołobut
Jakub Lengiewicz*
Affiliation:
Institute of Fundamental Technological Research of the Polish Academy of Sciences, Pawiñskiego 5B, 02-106 Warsaw, Poland E-mails: mkursa@ippt.pan.pl, pholob@ippt.pan.pl
Michał Kursa
Affiliation:
Institute of Fundamental Technological Research of the Polish Academy of Sciences, Pawiñskiego 5B, 02-106 Warsaw, Poland E-mails: mkursa@ippt.pan.pl, pholob@ippt.pan.pl
Paweł Hołobut
Affiliation:
Institute of Fundamental Technological Research of the Polish Academy of Sciences, Pawiñskiego 5B, 02-106 Warsaw, Poland E-mails: mkursa@ippt.pan.pl, pholob@ippt.pan.pl
*
*Corresponding author. E-mail: jleng@ippt.pan.pl
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Summary

We propose a new class of modular-robotic structures, intended to produce forces which scale with the number of modules. We adopt the concept of a spherical catom and extend it by a new connection type which is relatively strong but static. We examine analytically and numerically the mechanical properties of two collective-actuator designs. The simulations are based on the discrete element method (DEM), with friction and elastic deformations taken into account. One of the actuators is shown to generate forces proportional to its volume. This property seems necessary for building modular structures of useful strength and dimensions.

Keywords

Modular robotsSelf-reconfigurationProgrammable matterActuatorsMechanical strength

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 4 , April 2017 , pp. 787 - 808
Copyright
Copyright © Cambridge University Press 2015 

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