Coordinated locomotion between robots separated by a surface

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].