Design and motion analysis of a reconfigurable pendulum-based rolling disk tobot with magnetic coupling

Wiltshire, Ollie and Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144 2024. Design and motion analysis of a reconfigurable pendulum-based rolling disk tobot with magnetic coupling. Presented at: Annual Conference Towards Autonomous Robotic Systems, London, UK, 21-23 August 2024. Published in: Huda, M.N., Wang, M. and Kalganova, T. eds. Towards Autonomous Robotic Systems. Lecture Notes in Computer Science , vol.15052 Cham, Switzerland: Springer, pp. 208-219. 10.1007/978-3-031-72062-8_19 Item availability restricted.

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Abstract

Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel pendulum-based magnetic coupling system within a reconfigurable disk robot. Diverging from traditional designs, this system emphasizes enhancing coupling strength while maintaining the compactness of the outer shell. We employ parametric optimization techniques, including magnetic array simulations, to improve coupling performance. Additionally, we conduct a comprehensive analysis of the rolling robot’s motion to assess its operational effectiveness in the coupling mechanism. This examination reveals intriguing new motion patterns driven by frictional and sliding effects between the rolling disk modules and the ground. Furthermore, the new setup introduces a novel problem in the area of nonprehensile manipulation.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Engineering
Publisher:	Springer
ISBN:	978-3-031-72061-1
Date of First Compliant Deposit:	17 January 2025
Date of Acceptance:	1 August 2024
Last Modified:	17 Jan 2025 10:45
URI:	https://orca.cardiff.ac.uk/id/eprint/174933

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