Coordinated locomotion between robots separated by a surface
2012
This SM thesis presents the design, modeling, and
experimental verification of a novel, programmable connection
mechanism for robots separated by a-surface. The connector uses
electropermanent magnets (EPMs) [5] to establish a continuum of
clamping force between the robots, enabling the motion of one robot
to slave the other during a variety of maneuvers. The author
designs a novel, solid-state EPM arrangement capable of generating
up to an estimated 890N of clamping force under environmental load
conditions. A relationship between geometric and environmental
variables and connection assembly performance is first modeled and
subsequently experimentally characterized. By implementing these
connectors in a custom manufactured pair of assembly robots, the
author demonstrates the connection assembly and magnetizing
hardware can be compactly fit within a tetherless robot
application. This mechanism provides a repeatable, easily-automated
alternative to robotic systems that depend on mechanic means to
regulate clamping force [6].
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