Ming-Chiuan Shiu

Modular Design of a Reconfigurable Electromagnetic Robot

This paper discusses the modular design of distributed reconfigurable robots. The design concept, mechanical structure, electrical processing unit, actuator dissection and reconfiguration examples of the proposed robotic modules are presented in detail. The reconfigurable robotic motion is realized via a collection of the proposed modules with the capability of connecting and disconnecting with adjacent modules. The key actuation of the robotic reconfiguration is driven only by the E-type electromagnets and different shapes of the modules are implemented for versatile applications. Finally, the feasibility of the proposed robotic modules has been extensively tested.

Magnetic Force Analysis for the Actuation Design of 2D Rotational Modular Robots

This paper discusses the experimental testing on the actuation design and motion of one type of novel self-reconfigurable modular robot. The shape of the modular robot is octagonal and hence it is named as Octabot. Each module is equipped with one micro-controller and eight actuators. One each side of the modular robot, the actuator is driven by one set of electromagnet for both moving the module and connecting other modules. Multiple Octabots can be used to easily generate a large- scale robot formation. The magnetic field of the actuator is analyzed first in ANSYS and preliminary experimental tests of multiple Octabots are then performed to demonstrate the reconfigurable operation.

Design of the Octabot Self-Reconfigurable Robot

Abstract Self-reconfigurable robots are for the ability to change the shape of multiple cooperated robot modules that can be easily reconfigurable in the different working environment. Related work on two-dimensional robots is presented. A novel design for a self-reconfigurable robot, called “Octabot”, is described. The Octabot robot is a two-dimensional self-reconfigurable robot with modules composed of eight e-type electromagnets. After the magnetic force characteristics based on FEM analyses, mechanical design and system properties are described. The current designs only use single type actuator. The group of Octabots can be easily expanded to a large scale if needed in any case. Via examining the basic mechanical functions, the Octabot in self-reconfiguration shows its satisfactory performance .

Design of 2D modular robot based on magnetic force analysis

In this paper, an novel actuation of a self- reconfigurable robot is well designed. The single type component (electromagnets) is used to move by connecting or disconnecting to different sides of robots. The shape of the modular robot is octagonal and hence it is named as Octabot. Each module is equipped with one micro-controller and eight actuators. The advantages over the existing self-reconfigurable robot, including extra actuators are not needed to offer the ability of movement at the same time. One of Octabots can be easily expanded to a large scale if needed in any case. The magnetic field of the actuator is analyzed first in ANSYS. Via examining the basic mechanical functions and the operating of self-reconfiguration, the designed robotic system shows its satisfactory performance.

Design and control of a novel planar maglev positioning system

Abstract This paper describes a novel planar repulsive maglev prototype. In this maglev system, the carrier is levitated by a planar 2D array of coils. The levitation forces are due to repelling between the magnets and the coils. Then, the general model of motion of the carrier with complete degree of freedoms(DOFs) is derived and analyzed. Next, for the sake of control, a PID controller is designed here to regulate the all DOFs of the planar maglev system. From the simulation results, satisfactory good performances including stiffness and precision have been demonstrated. The experiment of the proposed system is under preparation.

Graph isomorphism testing method in a self-recognition Velcro strap modular robot

In this paper, we use a recognition method for a self-recognition robot aiming to recognize potential isomorphism between two configuration graphs of the robot. A self-recognition modular robot is formed by a set of robotic modules. This self-recognition modular robot is able to change its shape by changing the way in which these multiple modules cooperate so as to conform to different working environments. In general, recognizing configuration isomorphism during the reconfiguration process is a significant challenge. This paper presents an isomorphism testing algorithm to be applied to configuration graphs to deal with the recognition problem. A byproduct of the algorithm is to allow the robot to identify configurations other than the present one sharing the same underlying graph structure. Such solutions may lead to useful results for devising feasible control in subsequent reconfiguration process. Simulation results are provided to validate the method application, and its advantages are also discussed. Furthermore, some experimental results are demonstrated to show the effectiveness of the Velcro strap modular robot with satisfactory performances.

Actuation Design of 2D Rotational Modular Robots

In this paper, an actuation of a novel self-reconfigurable robot is focused and well designed. It uses only the single type component (electromagnets) to move by connecting to different sides of others. A self-reconfigurable robot has an octagonal shape and the advantage over the existing self-reconfigurable robot, including extra actuators are not needed to offer the ability of movement at the same time called the Octabot. A of Octabots can be easily expanded to a large scale if needed in any case. Via examining the basic mechanical functions and the operating of self-reconfiguration, the designed robotic system shows its satisfactory performance.

Voice-controlled CD feed forward robot

Robots are moving from the factories into our homes. The human-robot interaction becomes more and more important in daily life. This work has successfully designed the voice controlled CD feed forward robot which can help those physically defective to select the CD they want by voice. A prototype of such design has proposed in the paper. By a proper arrangement of microphone, microprocessor, actuators and mechanism structure, the chosen CD can be delivered from original CD plate to CD player. A experimental result is given to validate the satisfactory performance.

Design and control of a novel plane Maglev system based on analyzing magnetic force

In this paper, a novel 6-DOF magnetic levitation (Maglev) system is proposed. As a result of using the cylindrical solenoid and rectangular coils as actuators, we thought analysis of magnetic forces inside the both kinds of coil form the main basis of designing our system. In this system, both new mechanical structure and adaptive control algorithm are developed. Structurally, totally there are eight permanent magnets (PMS) attached to the carrier, whereas there are eight coils respectively mounted on a fixed base. After analyzing the magnetic force characteristics between permanent magnets and coils, a detailed study of the general model of this system with full 6DOFs is therefore derived and analyzed. Next, an adaptive controller is developed for such a system to deal with the unknown parameters with the objective of precision positioning. From the experimental results, satisfactory performances including regulation accuracy and control stiffness have been demonstrated.

Novel Design and Control Application to a Planar Maglev System

Abstract In this paper, a prototype of a novel planar maglev positioning system is proposed. It is a repulsive maglev system with a carrier and a matrix of the coils. Then, its analytical model is derived and analyzed. Next, an adaptive controller is to develop to deal with the unknown parameters with the objective of regulating the 6 DOFs in this system. From the simulation results, satisfactory performances including regulation accuracy and control stiffness have been demonstrated.