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== Reference ==
== Reference ==
Yeoreum Yoon, "Modular Robots for Making and Climbing 3-D Trusses", MS Thesis
Yeoreum Yoon, [[Publications#yeoreum-MSthesis|Modular Robots for Making and Climbing 3-D Trusses]], MS Thesis

Revision as of 00:30, 29 November 2006

shady3d: 2 barrel joints + middle joint for 3D motion
truss structure where a shady3d is moving

New Shadys for 3-D climbing

This research introduces the concept of modular robots to reconcile this trade-off. Instead of a single, full-degree-of-freedom robot, multiple simpler modules can be used. A single module has fewer degrees of freedom than required for complete 3-D motion, but it can move in a 2-D plane and reach a goal position in many cases. If complete 3-D motion is necessary, multiple modules can connect to and cooperate with each other to reach a goal position and orientation. The robot we present is the extension of a specific truss-climbing application our group has been working on: window shading. This 2-D Shady robot concept has been extended to a 3-D truss climbing modular robot system called Shady3D The design of the 2-D Shady robot has been modified to be able to escape from a 2-D plane. Based on the modified design, robot hardware including both the mechanical parts and electronics has been developed. We have also developed low-level control algorithms that control joint rotation and gripper operation, and high-level planning algorithms that enable the robot to navigate in a 3-D truss structure.

what's new?

Arbitrary motion with 2-shady3Ds

We can build a 6-DOF manipulator with two 3-DOF modules and a passive truss element, or a passive bar.

6-dof motion is possible by the cooperation of 2 robots

let's build something

The below picture shows the procedure of the self-assembling of a truss tower. Twelve active modules and eight passive bars were employed to build a three-dimensional tower. The tower building is performed through the following steps.

-Four 6-DOF manipulators move to the base location of the tower and approach remaining four active modules to pick them up. Remaining modules hold passive bars to connect to the 6-DOF manipulators.

-The 6-DOF manipulators connect to four remaining active modules. The active modules held by the manipulators release the grippers gripping the ground trusses. Thus, each 6-DOF manipulator becomes a structure consisting of three active modules and two passive bars.

-The four structures formed in the previous stage arrange themselves in the desired poses. Then, they connect to their neighbors to complete the tower structure.

Multi shadys are building an active structure


Yeoreum Yoon, Modular Robots for Making and Climbing 3-D Trusses, MS Thesis

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