Design of 2D modular robot based on magnetic force analysis

摘要

In this paper, an novel actuation of a selfreconfigurable 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.