Modular-robotic structures for scalable collective actuation. Issue 4 (30th October 2015)

• Record Type: Journal Article
• Authors: Lengiewicz, Jakub; Kursa, Michał; Hołobut, Paweł
• Is Part Of: Robotica. Volume 35:Issue 4(2017)
• Page Start: 787
• Page End: 808
• Publication Date: 2015-10-30
• Subjects: Modular robots, -- Self-reconfiguration, -- Programmable matter, -- Actuators, -- Mechanical strength; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S026357471500082X
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: We propose a new class of modular-robotic structures, intended to produce forces which scale with the number of modules. We adopt the concept of a spherical catom and extend it by a new connection type which is relatively strong but static. We examine analytically and numerically the mechanical properties of two collective-actuator designs. The simulations are based on the discrete element method (DEM), with friction and elastic deformations taken into account. One of the actuators is shown to generate forces proportional to its volume. This property seems necessary for building modular structures of useful strength and dimensions.