Transcript presentation_modrob.

Modular Robot Unit – Characterisation, Design
and Realisation
16th August 2004
Elmar Dittrich
Departement of Mechanical Engineering, Technical University Ilmenau,
Germany
Elmar Dittrich
BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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Contents
1. Survey – Modular Robotics
2. Hardware
3. Software
4. Experiments
5. Outlook
Elmar Dittrich
BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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1. Survey
Modular Robotics deals with:
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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1. Survey
1.1 M-TRAN II
M-TRAN II: Self-Reconfigurable Robot
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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1. Survey
1.1 M-TRAN II
M-TRAN II: Self-Reconfigurable Robot
http://unit.aist.go.jp/is/dsysd/mtran/English/index.html
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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1. Survey
1.2 PARC `s Modular Robots
Polybot: „Walk on the Wild Side“
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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1. Survey
1.2 PARC `s Modular Robots
Polybot: „Walk on the Wild Side“
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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1. Survey
1.2 PARC `s Modular Robots
Telecube
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Technology, Lausanne 2004
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1. Survey
1.3. CONRO
CONRO: Hormone-Controlled Metamorphic Robot
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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1. Survey
1.3. CONRO
CONRO: Mormone-Controlled Metamorphic Robot
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Technology, Lausanne 2004
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1. Survey
1.4. Dartmouth Robotics Lab
The Crystalline Robot
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Technology, Lausanne 2004
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1. Survey
1.4. Dartmouth Robotics Lab
The Molecule Robot
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Technology, Lausanne 2004
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1. Survey
1.5. I - Cubes
I-Cubes at Advanced Mechatronics Lab, CMU
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1. Survey
Fractum
Fracta
Atron (Hydra)
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2. Hardware
Design Constraints:
1. off-the-shelf parts
2.
« open & cheap» design
3. costs = 50 – 70 € per module
4. time = 5 month
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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2. Hardware
First Draft
WormBot
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BIRG - Swiss Federal Institute of
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M-TRAN II
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2. Hardware
Actuator:
•max. torque:
73 Ncm
•max. speed:
60°/0.16s
•working range:
180°
•size:
41x20x41 mm
•weight:
58 g
•price:
19.95 €
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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2. Hardware
Casing:
a=a
b=2a c=a
c=50
a=45
b=95 (incl. U)
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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2. Hardware
Connection Mechanism:
1. power efficiency
2. reliability
3. compact
4. genderless
+ connection in any particular angle (mainly 45°)
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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2. Hardware
Final Design:
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2. Hardware
Communication:
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3. Software
Control File: (example)
/* Heads2Sides of the Middle*/
<receiver> 1 5 3 </receiver>
<set delay> 200
<set time factor> 1.0
<loop> 1 30
000
20 45 70
</loop> 1 1.0
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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3. Software
JAVA-GUI:
time step
result board
loop counter
modules
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drawing board
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Technology, Lausanne 2004
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4. Experiments
Servo Tests:
dynamic
static
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Technology, Lausanne 2004
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4. Experiments
Modules moving by itself:
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4. Experiments
Two Modules:
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Technology, Lausanne 2004
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4. Experiments
Three Modules:
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Technology, Lausanne 2004
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4. Experiments
Four Modules:
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Technology, Lausanne 2004
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4. Experiments
Five Modules:
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Technology, Lausanne 2004
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4. Experiments
Six Modules:
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Technology, Lausanne 2004
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5. Outlook
Prototype 2: changing the size
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5. Outlook
Prototype 2: Sensors
Piezoelectric film
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HELI-gyroscope
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Technology, Lausanne 2004
Ultrasonic Range Finder
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Merci pour votre attention !
All videos under:
http://birg.epfl.ch/page50163.html
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BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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Elmar Dittrich
BIRG - Swiss Federal Institute of
Technology, Lausanne 2004
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