A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots

James White, Mark Post, Andy Tyrrell

2022

Abstract

This paper describes a novel hermaphroditic, single sided disconnect physical connector for heterogeneous modular robots built using eight permanent magnets arranged in rotating pairs. The connector has 4 rotational degrees of symmetry and incorporates power and data sharing. The connector has been designed as part of a project creating 10 cm cubic heterogeneous modules but could be easily scaled to different sizes for other applications. The paper begins with an introduction to connection mechanisms in modular robots, followed by a detailed description of the design of the connector. A description of the simulation environment created to test systems of interconnected modular robots is given, followed by the implementation and testing of the connection system created.

Paper Citation

in Harvard Style

White J., Post M. and Tyrrell A. (2022). A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 385-394. DOI: 10.5220/0011141100003271

in Bibtex Style

@conference{icinco22,
author={James White and Mark Post and Andy Tyrrell},
title={A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={385-394},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011141100003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots
SN - 978-989-758-585-2
AU - White J.
AU - Post M.
AU - Tyrrell A.
PY - 2022
SP - 385
EP - 394
DO - 10.5220/0011141100003271