2026-09-19T13:10:17Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/375712022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Rodney Brooks.
Kim, Myunghee, Ph. D. Massachusetts Institute of Technology
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2007-05-16T19:00:58Z
2007-05-16T19:00:58Z
2006
2006
http://hdl.handle.net/1721.1/37571
77224437
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
Includes bibliographical references (p. 81-83).
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.
by Myunghee Kim.
S.M.
83 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
A design for self-assembling robots in a system
Thesis
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