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Modular Robot Unit – Characterisation, Design and Realisation

Modular Robot Unit – Characterisation, Design and Realisation. 16th August 2004. Elmar Dittrich Departement of Mechanical Engineering, Technical University Ilmenau, Germany. Contents. Survey – Modular Robotics Hardware Software Experiments Outlook. 1. Survey.

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Modular Robot Unit – Characterisation, Design and Realisation

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  1. Modular Robot Unit – Characterisation, Design and Realisation 16th August 2004 Elmar Dittrich Departement of Mechanical Engineering, Technical University Ilmenau, Germany BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  2. Contents • Survey – Modular Robotics • Hardware • Software • Experiments • Outlook BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  3. 1. Survey Modular Robotics deals with: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  4. 1. Survey 1.1 M-TRAN II M-TRAN II: Self-Reconfigurable Robot BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  5. 1. Survey 1.1 M-TRAN II M-TRAN II: Self-Reconfigurable Robot http://unit.aist.go.jp/is/dsysd/mtran/English/index.html BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  6. 1. Survey 1.2 PARC `s Modular Robots Polybot: „Walk on the Wild Side“ BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  7. 1. Survey 1.2 PARC `s Modular Robots Polybot: „Walk on the Wild Side“ BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  8. 1. Survey 1.2 PARC `s Modular Robots Telecube BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  9. 1. Survey 1.3. CONRO CONRO: Hormone-Controlled Metamorphic Robot BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  10. 1. Survey 1.3. CONRO CONRO: Mormone-Controlled Metamorphic Robot BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  11. 1. Survey 1.4. Dartmouth Robotics Lab The Crystalline Robot BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  12. 1. Survey 1.4. Dartmouth Robotics Lab The Molecule Robot BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  13. 1. Survey 1.5. I - Cubes I-Cubes at Advanced Mechatronics Lab, CMU BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  14. 1. Survey Fracta Atron (Hydra) Fractum BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  15. 2. Hardware • Design Constraints: • off-the-shelf parts • « open & cheap» design • costs = 50 – 70 € per module • time = 5 month BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  16. 2. Hardware M-TRAN II WormBot First Draft BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  17. 2. Hardware • Actuator: • max. torque: 73 Ncm • max. speed: 60°/0.16s • working range: 180° • size: 41x20x41 mm • weight: 58 g • price: 19.95 € BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  18. 2. Hardware Casing: a=a b=2a c=a c=50 a=45 b=95 (incl. U) BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  19. 2. Hardware • Connection Mechanism: • power efficiency • reliability • compact • genderless + connection in any particular angle (mainly 45°) BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  20. 2. Hardware Final Design: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  21. 2. Hardware Communication: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  22. 3. Software Control File: (example) /* Heads2Sides of the Middle*/ <receiver> 1 5 3 </receiver> <set delay> 200 <set time factor> 1.0 <loop> 1 30 0 0 0 20 45 70 </loop> 1 1.0 BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  23. 3. Software JAVA-GUI: time step result board loop counter modules drawing board BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  24. 4. Experiments Servo Tests: dynamic static BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  25. 4. Experiments Modules moving by itself: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  26. 4. Experiments Two Modules: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  27. 4. Experiments Three Modules: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  28. 4. Experiments Four Modules: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  29. 4. Experiments Five Modules: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  30. 4. Experiments Six Modules: BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  31. 5. Outlook Prototype 2: changing the size BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  32. 5. Outlook Prototype 2: Sensors Piezoelectric film HELI-gyroscope Ultrasonic Range Finder BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  33. Merci pour votre attention ! All videos under: http://birg.epfl.ch/page50163.html BIRG - Swiss Federal Institute of Technology, Lausanne 2004

  34. BIRG - Swiss Federal Institute of Technology, Lausanne 2004

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