Design of Reconfigurable Robots to Overcome Obstacles

Yong, Wai Hou (2017) Design of Reconfigurable Robots to Overcome Obstacles. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

Since the late of 1980’s, many self-reconfigurable robots have been developing. All the reconfigurable robot has its own features and capabilities of the robot modules and structure. This report will give a full introduction on how the reconfigurable robot was build up, the features of the reconfigurable robot and how the system and locomotion and reconfiguration system was implemented on the robot. A full discussion of reconfigurable robot is given for design, algorithm and experiments conduct doing the reconfigurable robot will be present. The design for the self-reconfigurable robots are divided into three part which is the mechanical design, electronic design and programming design. In mechanical design, there will be a fully discussion how to choose the part of the body of the robots. In order to verify the design part of the robots’ body are suitable, using the solid work software to do stimulation for all the part to meet the safety requirements. For the electronic design, there will be a fully discussion on each electric component and electrical circuit using in self-reconfigurable robots. The programming part in the project are discussed for how the program flow implemented in this project. The algorithm apply in the self-reconfigurable robots are climbing staircases and overcome the gap. The algorithm for climbing staircases having three steps to achieve which is approaching, climbing and landing. For the algorithm of overcome the gap also having three steps to achieve which is approaching, joining and overcome. The three steps are implemented for the self-reconfigurable robots clearly understand each step how to perform for meet the goal of each step. The communication algorithm for the robots are using Bluetooth module to communicate. The Bluetooth module is easily to configure and implement in the self-reconfigurable robots, the Bluetooth module is suitable for low intelligent self-reconfigurable robots. Experiments are conducted to validate the performance of the self-reconfigurable robots are completed. The experiments results show that the self-reconfigurable robots are success and proven with well-designed algorithm for the self-reconfigurable robots to carry out the experiments are the key factor for the self-reconfigurable robots to attain the performance of the protocol used. The experiments to validate the performance of the self-reconfigurable robots are climbing staircases with different height of the staircases and overcome the gap with different width