Modular Reconfigurable Robot Automated Docking Technology

Modular self-reconfigurable robots (MSRR) consist of large numbers (hundreds or thousands) of identical modules that possess the ability to reconfigure into different shapes such as snake or hexapods as required by the task. Since the reconfigurable structure, MSRR shows the promise of versatility, robustness and low cost. However, in order to change their individual and collective shape, modules of robot have to rearrange themselves which called self-reconfiguration or self-assemble.Automatic docking is one of the most important actions for MSRR because it supports almost all practical advantages of such robot. MSRR have the capability of reconfigure into different shapes, in order to meet this, one important problem is the design and implementation of the connectors which support modules to autonomously connect and disconnect from one another. We select shape memory alloy as the drive component of connectors. And the paper presents a kind of locking and unlocking mechanism, which has the advantages of simple, convenience and energy efficiency.Sensors play important roles in MSRR systems, as smart systems have to be equipped with smart sensors. In the MSRR, there are a rich set of sensors in each module, which include hall-effect sensors, infrared emitters and detectors check the attaching of two plates, and so on. This paper discusses two offset computation way: inverse offset computation method, a method based on the information balance. Then presents a hill-climbed search method to complete the docking action.The kinematic chain is a ubiquitous and extensively studied representation in robotics especially in chain-type MSRR system which is a serial linkage composed of N links and N-1 joints. A kinematic chain may change its configuration over time by moving its joints while adhering to constraints imposed by the chain-type structure. The inverse kinematics routine calculates the joint angles for each module to achieve the goal position. To complete the docking action, a chain of modules that is immediately connected to the docking module must coordinate their movement using inverse kinematics.The whole docking action can separate into three phases: long range, medium range and short range.