A Modular Self-Reconfigurable Robot with Enhanced Locomotion Performances: Design, Modeling, Simulations, and Experiments

Abstract

This paper presents the design and implementation of a modular self-reconfigurable robot with enhanced locomotion capabilities. It is a small hexahedron robot which is 160 mm × 140 mm × 60 mm in size and 405 g in weight. The robot is driven by three omnidirectional wheels, with up and down symmetrical structure. The robot can perform rectilinear and rotational locomotion, and turn clockwise and counterclockwise without limitation. A new docking mechanism that combines the advantages of falcula and pin-hole has been designed for attaching and detaching different modules. The communication and image data transmission are based on a wireless network. The kinematics and dynamics of the single module has been analyzed, and the enhanced locomotion capabilities of the prototype robot are verified through experiments. The maximum linear velocity is 25.1cm/s, which is much faster than other modular self-reconfigurable robots. The mobility of two connected modules is analyzed in the ADAMS simulator. The locomotion of the docking modules is more flexible. Simulations on the wheel and crawling locomotion are conducted, the trajectories of the robot are shown, and the movement efficiency is analyzed. The docking mechanisms are tested through docking experiments, and the effectiveness has been verified. When the transmission time interval between the adjacent packets is more than 4 ms, the wireless network will not lose any packet at the maximum effective distance of 37 m in indoor environments.