A design for self-assembling robots in a system

This thesis presents the design, construction, control, and application for a novel concept of self-assembling robots in a system. The system is composed of multiple cooperative robots that are designed to self-assemble in a system, execute manipulative tasks, and self-repair, all without human assistance. The self-assembling feature employs four mechanical design guidelines: independent module, one touch assembly design, self-alignment, and self-guiding. The independent design feature also employs independent motor control boards and a wireless communication board. For a decoupling effect, we chose a motor with large gear ratio. For safety and modularization purpose, we implemented a newly designed Series Elastic Actuator to limit shock bandwidth by using its compliance and sense forces during manipulative tasks. This thesis introduces a control algorithm, according to design parameters. With the results of dynamic simulations, we developed a preliminary algorithm for picking up a based on subsumption architecture. Finally, we verified the design and algorithm via an application, picking up a module in unstructured environments.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2006

Author dc:creator

• Kim, Myunghee, Ph. D. Massachusetts Institute of Technology

Advisor dc:contributor.advisor

• Rodney Brooks.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/37571

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/37571