A design for self-assembling robots in a system
Author(s)
Kim, Myunghee, Ph. D. Massachusetts Institute of Technology![Thumbnail](/bitstream/handle/1721.1/37571/77224437-MIT.pdf.jpg?sequence=4&isAllowed=y)
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Other Contributors
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Advisor
Rodney Brooks.
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Show full item recordAbstract
This thesis presents the design, construction, control, and application for a novel concept of self-assembling robots in a system. The system is composed of multiple cooperative robots that are designed to self-assemble in a system, execute manipulative tasks, and self-repair, all without human assistance. The self-assembling feature employs four mechanical design guidelines: independent module, one touch assembly design, self-alignment, and self-guiding. The independent design feature also employs independent motor control boards and a wireless communication board. For a decoupling effect, we chose a motor with large gear ratio. For safety and modularization purpose, we implemented a newly designed Series Elastic Actuator to limit shock bandwidth by using its compliance and sense forces during manipulative tasks. This thesis introduces a control algorithm, according to design parameters. With the results of dynamic simulations, we developed a preliminary algorithm for picking up a based on subsumption architecture. Finally, we verified the design and algorithm via an application, picking up a module in unstructured environments.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006. Includes bibliographical references (p. 81-83).
Date issued
2006Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringPublisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.