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Analysis of Use of Platonic Solids in Swarm Robotic Systems with Parallel Structure Based on SEMS

  • Sergey N. Sayapin
Chapter
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 174)

Abstract

Problem statement: one of the most important directions in the development of modern mechatronics and robotics is associated with the development of a fundamentally new class of multi-link devices that can operate in extreme, a priori uncertain conditions and have an adaptive kinematic structure, automatically rebuilt depending on the specifics of the problem. The intelligent control system of such an object should have a distributed structure and provide the possibility of autonomous operation in conditions of uncertainty, which creates a number of problems associated with the creation of algorithms of functioning, self-learning and reconfiguration. Modules of parallel structure based on Platonic solids can be successfully used to create role-based systems. The attractiveness of using Platonic solids in the construction of mobile modular robots is due to the fact that of the huge variety of polyhedrons, only they are correct and therefore modules based on each of them have unified elements and the possibility of unlimited extension along each of the faces. Purpose of research: to choose the most effective type of mobile parallel robot of parallel structure based on Platonic bodies and SEMS for autonomous and collective application. Results: the review of known and perspective mobile robots of modular type on the basis of Platonic bodies is given. The comparative analysis of similar parallel robots on the basis of which the module in the form of an octahedron is chosen as a base sample. A new modular type of spatial mobile parallel robot with 12 dof based on octahedral structure, called Octahedral dodekapod (from Greek words dodeka meaning twelve and pod meaning foot or its counterpart leg). The analysis of its functional capabilities at its Autonomous and collective (swarm) application is carried out. Practical significance: the Octahedral dodekapod can be successfully applied for the solution of individual and collective tasks in extreme, a priori undefined conditions. Its adaptive kinematic structure makes it possible to combine with similar modules to form multifunctional active intelligent robotic systems to solve a wide variety of problems.

Keywords

Parallel robot Platonic solids Self-propelled robot Self-reconfigurable robot Swarm systems Modular robot SEMS 

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Authors and Affiliations

  1. 1.Mechanical Engineering Research named after A. A. Blagonravov of the Russian Academy of SciencesMoscowRussia
  2. 2.Bauman Moscow State Technical UniversityMoscowRussia

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