Design and Fabrication of a Modular Reconfigurable Robot for Locomotion

Project Title

Design and Fabrication of a Modular Reconfigurable Robot for Locomotion

Project Area of Specialization RoboticsProject Summary

A modular robot is a robot that is composed of identical modules. Reconfigurable robots are able to change their shape by rearranging the connectivity of their identical modules.A single module is designed and then six identical modules are fabricated. These identical modules are assembled, using permanent magnets, in two different configurations. Two gaits to locomotion are implemented through the synchronized motion of the revolute joints actuated through servo motors. The motors are controlled through a complete electronic circuit for which the algorithm is written for motion profile of the joints. These locomotions produced are then analyzed. These robot can be reconfigured into several bio-inspired configurations such as snake, earthworm, lizard and legged animals. These robots has potential applications in inspection and security.

Project Objectives

The objectives of the project are:

1. To model the active and passive modules
2. Design of electronics and components selection
3. To fabricate the active and passive modules
4. Interfacing and programming
5. Assemble the robot with 6 modules
6. Test the robot for two desired configurations 

Project Implementation Method

First a literature survey is conducted for proposing conceptual design. Then the 3D models of the active (1Degree of freedom) and passive (box and triangular with zero Degree of freedom) modules on CAD software (PTC Creo) are produced.

.stl files of the modules are made for fabrication purpose. Then the active and passive modules are fabricated through 3D printing.

Then the electronic circuitry is designed in Proteus software.

Then the PCBs are designed and fabricated for each active module.

Then mechanical assembly of the modules is performed along with interfacing of the Electronic circuit. Finally the robot is tested for desired locomotion through two different configurations.

Benefits of the Project

•Security Purposes

•Inspection of Pipes

•Search and Rescue

Technical Details of Final Deliverable

Our project is composed of active and passive modules. Active module is used to perform the motion and passive module is used for length extention and achieve different configurations.

Active Module:

the Active module have servo motor for actuation, Electronic circuit i which there is a controller and HC12 wireless module and a battery. The controller is used to generate the PWM for servo motor and HC12 module is used for the wireless communication. They contains Permanent magnets for Docking mechanism. The active module have revolute joint. The active module have one degree of freedom and have two Face docking. The overall mass of one module including all components is 80 grams. Our each active module is independent.

Passive Module:

Passive module is used for length extension and for branch cofiguration. The passive module is triangular shape and have 3 faces for docking. it also have permanent magnets for docking mechanism.

Final Deliverable of the Project HW/SW integrated systemType of Industry Security Technologies RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	40916
Atmega328P	Equipment	8	300	2400
HC-12	Equipment	7	800	5600
MG90S Metal gear	Equipment	8	350	2800
PCB Board	Equipment	2	400	800
Connector Single in Line	Equipment	12	20	240
Crystal	Equipment	12	25	300
Capcitor	Equipment	24	5	120
Resistors	Equipment	26	1	26
3D Printing	Equipment	6	2000	12000
Permanent magnets	Equipment	72	40	2880
Printing Travelling and Report writing	Miscellaneous	1	8000	8000
LiPo Batteries	Equipment	8	150	1200
Pic 18f2520	Equipment	7	650	4550