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Three-dimensional construction and omni-directional rolling analysis of a novel frame-like lattice modular robot

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Abstract

Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube(PE-Cube) is proposed. The three-dimensional(3D) expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom(DoFs) is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator(pneumatic cylinder) is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules’ construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules’ construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules’ construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the lattice modular robot and provide the instruction to design the lattice modular robot.

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Authors and Affiliations

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Wan Ding, Jianxu Wu & Yan’an Yao

Authors
  1. Wan Ding
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  2. Jianxu Wu
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  3. Yan’an Yao
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Corresponding author

Correspondence to Yan’an Yao.

Additional information

Supported by National Natural Science Foundation of China(Grant No. 51175030), Fundamental Research Funds for the Central Universities, China(Grant No. 2012JBZ002), Research Fund for the Doctoral Program of Higher Education(Grant No. 20130009110030), and Major Project of Ministry of Education of China(Grant No. 625010403)

DING Wan, born in 1987, is current a PhD candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China. He received his bachelor degree from Hubei Polytechnic University, China, in 2009. His research interests include creative mechanism design and mobile robot.

WU Jianxu, born in 1989, is current a PhD candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China. He received his bachelor degree from Taiyuan University of Science And Technology, China, in 2012. His research interests include creative mechanism design and mobile robot.

YAO Yan’an, born in 1972, is current a professor and a PhD candidate supervisor at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China. He received his bachelor degree from Yanshan University, China, in 1993. He received his master and PhD degree from Tianjing University, China, in 1999. He conducted research as a Postdoctorial Fellow at Shanghai Jiaotong University from1999 to 2001, and as a visitor at RWTH Aachen Univeristy, Aachen, German, during 2008 to 2009. His research interests include creative mechanism design and mobile robot.

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Ding, W., Wu, J. & Yao, Y. Three-dimensional construction and omni-directional rolling analysis of a novel frame-like lattice modular robot. Chin. J. Mech. Eng. 28, 691–701 (2015). https://doi.org/10.3901/CJME.2015.0316.059

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  • DOI: https://doi.org/10.3901/CJME.2015.0316.059

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