Toward a 2D Modular and Self-Reconfigurable Robot for Conveying Microparts
作者： Sebastian Mobes , Guillaume J. Laurent , Cedric Clevy , Nadine Le Fort-Piat , Benoit Piranda
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摘要: This paper describes the design, prototyping and control of a 2D modular self-reconfigurable robot for conveying microparts. The elementary block is designed to have package dimension under 1cm3 will include actuators, electronics micro-controller. Electropermanent (EP) magnets are used both linkage traveling system avoid any power consumption during linkage. Some prototype blocks been realized show well working motion sufficient holding force. presents also an algorithm, common all units, allowing reconfigure set from spatial configuration another one. algorithm implemented in simulator software showing real-time reconfiguration robot.
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