Efficient modular-robotic structures to increase the force-to-weight ratio of scalable collective actuators

Paweł Holobut; Micha𠅂 Kursa; Jakub Lengiewicz

IROS 2015poster4 citations

Efficient modular-robotic structures to increase the force-to-weight ratio of scalable collective actuators

Paweł Holobut, Micha𠅂 Kursa, Jakub Lengiewicz

Abstract

A collective actuator is a self-reconfigurable modular-robotic structure which produces useful mechanical work through simultaneous reconfiguration of its constituent units. An actuator is additionally called scalable if its force-to-weight ratio does not depend on the number of its member modules. In this work, we consider scalable collective actuators built from spherical catoms with two connection types: strong but fixed and weak but mobile. We investigate how to construct these actuators in such a way, as to maximize their force-to-weight ratio. We present a number of designs of high strength, whose force capacities significantly exceed those of similar actuators reported previously.

BibTeX

@inproceedings{iros2015_efficientmodular,
  title = {Efficient modular-robotic structures to increase the force-to-weight ratio of scalable collective actuators},
  author = {Paweł Holobut and Micha𠅂 Kursa and Jakub Lengiewicz},
  booktitle = {IROS 2015},
  year = {2015}
}