Mathematical Model for Coordinated Motion of Modular Mechatronic Devices (MechaCells)

摘要

Manufacturing techniques have advanced exponentially in recent years, providing means for micro even nano scale manufacturing of different structures. Mechanical and electrical components are being manufactured at micro/nano scale, producing amazing opportunities in micro/nano modular robot development, for modules that are smaller and more powerful. Development of mathematical models for such modular devices is an important step in the design and development of control strategies for coordinated movement. A mathematical model for modular mechatronic device, MechaCell was developed, in which the interaction forces between module–workpiece are modeled as the disturbance to be compensated by the closed loop position controller for each device. Experiments with an actual workpiece are conducted and our mathematical model was validated. Our future work will include development of better control strategies for coordinated motion and object transportation and caging stratifies.