RoGenSiD: A rotary plate genderless single-sided docking mechanism for modular self-reconfigurable robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

Docking mechanisms are an integral part of modular selfreconfigurable robot (MSR) systems, allowing multiple robot modules to attach to each other. An MSR should be equipped with robust and efficient docking interfaces to ensure enhanced autonomy and self-reconfiguration ability. Genderless docking is a necessary criterion to maintain homogeneity of the robot modules. This also enables self-healing of a modular robot system in the case of a failed module. The mechanism needs to be compact and lightweight and at the same time have sufficient strength to transfer loads from other connected modules. RoGenSiD is a rotary-plate genderless single sided docking mechanism that was designed to perform robustly and efficiently considering its application in unstructured terrains. The design methodology followed design for manufacture (DFM) and design for assembly (DFA) guidelines as well as considerations for minimal space and weight. As a result, this docking mechanism is applicable for multi-faceted docking in lattice-type, chain-type, or hybrid MSR systems. Bench-top testing validated the system performance.

Original languageEnglish (US)
Title of host publication37th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791855942
DOIs
StatePublished - Jan 1 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: Aug 4 2013Aug 7 2013

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume6 B

Conference

ConferenceASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period8/4/138/7/13

Keywords

  • Docking mechanism
  • Genderless docking
  • Modular self-reconfigurable robots
  • Single sided docking

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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    Hossain, S. G. M., Nelson, C. A., & Dasgupta, P. (2013). RoGenSiD: A rotary plate genderless single-sided docking mechanism for modular self-reconfigurable robots. In 37th Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 6 B). American Society of Mechanical Engineers. https://doi.org/10.1115/DETC2013-12938