Magnetically Controlled Modular Cubes With Reconfigurable Self-Assembly and Disassembly
Magnetically Controlled Modular Cubes With Reconfigurable Self-Assembly and Disassembly
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DOI：
10.1109/tro.2021.3114607
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发表时间：
2022-06
影响因子：
7.8
通讯作者：
Anuruddha Bhattacharjee;Yitong Lu;Aaron T. Becker;Min-Joo Kim
中科院分区：
文献类型：
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作者：
Anuruddha Bhattacharjee;Yitong Lu;Aaron T. Becker;Min-Joo Kim
可重构模块化机器人可以根据指令主动组装和拆卸，为中尺度（毫米级和微米级）制造提供了鲁棒性和可控性。在这项研究中，我们提出了一种可扩展的模块化子单元的设计，在3D打印的立方体中嵌入永磁体。子单元可以通过外部均匀磁场无线控制。我们还提出了控制这些子单元的组装-拆卸技术。我们的模块化机器人平台是高度可重构的，可以基于开环控制创建可编程的预定模式。2-D运动规划器从任意初始配置计算所有可到达的polyomino形状，并提供最短的运动序列来形成每个形状。实验结果与计算模型相匹配，证明了模块化机器人平台的鲁棒性和可重复性，这对于中尺度制造应用是有希望的。测试了两种立方体尺寸：10 mm边长和2.8 mm边长。
Reconfigurable modular robots, which can actively assemble and disassemble on command, offer the possibility of mesoscale (milliscale and microscale) manufacturing with robustness and controllability. In this study, we present a design of a scalable modular subunit with embedded permanent magnets in a 3-D printed cubic body. The subunit can be wirelessly controlled by an external uniform magnetic field. We also present controlled assembly–disassembly techniques for these subunits. Our modular robotic platform is highly reconfigurable and can create programmable, predetermined patterns based on open-loop control. The 2-D motion planner computes all reachable polyomino shapes from an arbitrary initial configuration and provides the shortest movement sequences to form each shape. Experimental results match computational modeling, demonstrating robust and reproducible behavior of the modular robotic platform that is promising for mesoscale manufacturing applications. Two cube sizes were tested: 10-mm edge lengths and 2.8-mm edge lengths.