Active reconfigurable robot system for building closed in-plane structures

Abstract

For auditory and visual perception, virtual reality systems offer a high-resolution simulation of reality at low cost. To bring digitized objects even closer to reality, programmable structures are presented in this work, which should enable not only visual but also tactile perception. The foundation of the programmable structure is a cellular robot whose cells can both deform and connect independently. The triangular cells have an actuator on each side, which allows to create unstructured triangular meshes from a set of cells. Due to the unique shape of the joints, the meshes do not undergo any restriction apart from the limitation of the actuators. In comparison to the state of the art, where structures built up by nodes and links are known, it has been possible for the first time to design autonomous formable cells, which can connect themselves independently at the side edges. This paper describes the kinematics and the mechatronic design of the system. Due to many joints and the 3D-printed components, there is noticeable clearance and flexibility in the cells. For this reason, a model was developed which simulates the deviations of the movements of the cellular robot from the desired trajectories and thus facilitates the motion control. Comparisons between the model and measurements on the real system using a motion tracking system are shown. Part of the presented approach is already available as a 3D-system using tetrahedrons, but it is not yet possible to realize closed 3D-structures with it.