A design for self-assembling robots in a system

Abstract

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.