Optimized Binary Modular Reconfigurable Robotic Devices

Binary robotic devices with large numbers of degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex, and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematics structure. Its binary actuation simplifies its control architecture. Analytical and experimental results for a practical prototype system are presented.

Authors

• Moustapha Hafez
• Matthew D. Lichter
• Steven Dubowsky

Keywords

• Actuators
• Robot sensing systems
• Orbital robotics
• Kinematics
• Cameras
• Polymers
• Mechanical engineering
• Magnetic analysis
• Prototypes
• Surgery
• Reconfigurable Devices
• Binary Devices
• Modular Reconfigurable
• Degrees Of Freedom
• Robotic System
• Practical Devices
• Magnetic Field
• Friction
• Young’s Modulus
• Center Of Mass
• Distance Function
• Range Of Motion
• End Stage
• Peak Current
• High Repeatability
• Permanent Magnet
• Shape Memory
• Rectangular Cross-section
• Accurate Motion
• Circular Arc
• Magnetic Vector Potential