Self-reconfigurable Robot Module with Magnetic Rolling Shell
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Solution Overview
Problem
Current modular self-reconfigurable robots face low connection efficiency and limited configuration options due to cube-shaped modules requiring precise connector alignment.
Innovation Solution
A self-reconfigurable robot module featuring a rolling shell, magnet, and driving mechanism, where the magnet and driving mechanism are housed within the shell, allowing for magnetic connection and movement along the shell's inner wall, enabling multiple connection points without aligning specific connectors, and facilitating efficient and versatile module reconfiguration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional cube-shaped modules with connectors are used, then the robot modules can maintain a fixed structure, but the connection efficiency is low due to required trajectory planning for connector alignment
Solution Approach 1:
The patent replaces the traditional cube-shaped module with a spherical module design. The magnetic connection interface is positioned on the spherical surface, allowing modules to connect through simple spherical joint connections without requiring precise trajectory planning for connector alignment. This curvature-based design enables automatic alignment and connection between modules.
Solution Approach 2:
The patent replaces the traditional mechanical connector system with a magnetic connection system. The magnetic interface uses magnetic attraction forces to achieve automatic connection between modules, eliminating the need for complex mechanical trajectory planning and alignment procedures required by traditional connector-based systems.
2Adaptability or versatility
If cube-shaped modules with fixed connectors are used, then the module structure is simple, but the configuration options are limited and cannot form other shapes
Solution Approach 1:
The spherical module design inherently provides greater configuration flexibility compared to cube-shaped modules. Multiple modules can be connected in various spatial arrangements using spherical joints, enabling the formation of different shapes and configurations such as linear chains, branched structures, and closed loops, whereas cube modules are constrained to grid-based arrangements.
Solution Approach 2:
The magnetic connection interface allows for dynamic reconfiguration of the robot system. Modules can be easily connected and disconnected by controlling the magnetic attraction forces, enabling real-time reconfiguration to adapt to different task requirements without being constrained by fixed geometric configurations.
3Productivity
If multiple connectors are configured on robot modules, then connection points are fixed, but the connection time is long due to alignment requirements
Solution Approach 1:
The magnetic connection system replaces mechanical connector alignment with magnetic field-based automatic alignment. When two modules approach each other, the magnetic attraction forces automatically guide and align the magnetic interfaces, eliminating the time-consuming manual or controlled trajectory planning required for mechanical connector alignment.
Solution Approach 2:
The magnetic connection interface enables self-alignment and self-connection between modules. The magnetic field automatically guides the modules into proper alignment and maintains the connection, without requiring external control systems to plan and execute precise trajectory movements for connector alignment.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This design enhances connection efficiency, allows for compact and lightweight modules, and enables the robot to roll and climb, achieving automatic and multi-point connections for various configurations.
Implementation Method 1
The magnet generates a magnet field around itself, and the magnet is able to be applied to generating an attraction force with the rolling shells of a plurality of other self-reconfigurable robot modules
Implementation Method 2
the magnet and the rolling shell are magnetically connected, that is, between the magnet and the rolling shell, there is an attraction force generated
Implementation Method 3
the driving mechanism abuts against an inner wall of the rolling shell through an attraction force between the magnet and the rolling shell, while the driving mechanism is applied to driving the magnet to move along the inner wall of the rolling shell
Implementation Method 4
since during a process of the driving mechanism driving the magnet to move, a position of a center of gravity of the self-reconfigurable robot module changes, generating a torque and making the self-reconfigurable robot module roll forward
Data Source
AI summary
A self-reconfigurable robot module and self-reconfigurable robot is provided, which belongs to technical field of robots. Self-reconfigurable robot module comprises rolling shell, magnet and driving mechanism. Magnet locates in and magnetically connected with rolling shell. Driving mechanism locates in rolling shell, magnet connects to driving mechanism, driving mechanism abuts against inner wall of rolling shell through attraction force, used for driving magnet to move along inner wall of rolling shell and changing gravity center of self-reconfigurable robot module. When driving mechanism drives magnet to move along inner wall of rolling shell, position of magnet relative to rolling shell is changed, so positions of connecting points, used for being connected with other self-reconfigurable robot modules, on rolling shell are changed, multiple positions on surface of rolling shell can serve as connecting points, self-reconfigurable robot modules are connected without aligning specific connectors, connecting time is short, efficiency is high.