Intelligent Autonomous Systems 14 by Weidong Chen Koh Hosoda Emanuele Menegatti Masahiro Shimizu & Hesheng Wang

Author:Weidong Chen, Koh Hosoda, Emanuele Menegatti, Masahiro Shimizu & Hesheng Wang
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

A Self-reconfigurable Robot M-Lattice

Shihe Tian1 , Zhen Yang1 , Zhuang Fu1 and Hui Zheng1

(1)State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, P.R, China

Shihe Tian

Email: [email protected]

Zhen Yang

Email: [email protected]

Zhuang Fu (Corresponding author)

Email: [email protected]

Hui Zheng

Email: [email protected]

Abstract

Modular robotic systems consists of more than one modules that are homogeneous and this paper proposes a novel structure design of modular robots called M-Lattice, which stands out for its load-capacity and high efficiency in self-reconfiguration. Compressibility of M-Lattice is guaranteed by the topological structure and the amount of compression has been calculated. The motion space indicates that different types of motion can be accomplished without interference. Two prototypes have been made to verify the motion ability of the modules and experiment shows the motion process of M-Lattice system.

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