Coordinated locomotion between robots separated by a surface

This SM thesis presents the design, modeling, and experimental verification of a novel, programmable connection mechanism for robots separated by a-surface. The connector uses electropermanent magnets (EPMs) [5] to establish a continuum of clamping force between the robots, enabling the motion of one robot to slave the other during a variety of maneuvers. The author designs a novel, solid-state EPM arrangement capable of generating up to an estimated 890N of clamping force under environmental load conditions. A relationship between geometric and environmental variables and connection assembly performance is first modeled and subsequently experimentally characterized. By implementing these connectors in a custom manufactured pair of assembly robots, the author demonstrates the connection assembly and magnetizing hardware can be compactly fit within a tetherless robot application. This mechanism provides a repeatable, easily-automated alternative to robotic systems that depend on mechanic means to regulate clamping force [6].

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2012

Author dc:creator

• Marchese, Andrew D. (Andrew Dominic)

Advisor dc:contributor.advisor

• Daniela Rus.

• Electrical Engineering and Computer Science.

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/1721.1/75717

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/75717