Brake design for dynamic modular robots

An energy efficient joint-locking mechanism that works in conjunction with the main actuator of a robot module is presented. The mechanism will enable chain-style modular reconfigurable robots to perform a wide array of tasks such as dynamic motion and bio-inspired locomotion while consuming less power. The design process for developing this mechanism is presented, and analysis is provided. This mechanism is ideal for modular reconfigurable robot systems, but can be modified to suit many applications. A prototype is developed that outperforms comparable devices such as those that utilize piezoelectrics, magnetic particles, and electromagnetically-actuated disc and drum brakes in terms of power consumption and specific torque.

Authors

• Chris Thorne
• Nikita Skorodinski
• Hughes Tipton
• Travis Van Schoyck
• Mark Yim

Keywords

• Robots
• Energy efficiency
• Actuators
• Process design
• Magnetic analysis
• Prototypes
• Piezoelectric devices
• Magnetic particles
• Energy consumption
• Torque
• Modular Robots
• Prototype
• Robotic System
• Dynamic Motion
• Modular System
• Friction Coefficient
• Design Space
• Levels Of Hierarchy
• Functional Requirements
• Mechanical Design
• Direction Of Rotation
• Safety Factor
• Shape Memory
• Large Bandwidth
• System Constraints
• Maximum Torque
• Angular Displacement
• Mechanical Advantage
• Piezoelectric Transducer
• Design Equations
• Braking System
• Revolute Joints
• Model In MATLAB
• Ball Bearings
• Static Friction Coefficient