Abstract
State of the problem: one of the important tasks in the organization of group (swarm) modular robotic systems is the development of simple and reliable reusable systems of docking/undocking modules. Depending on the purpose, the docking devices can be one-time and reusable and provide automatic docking/undocking of the command connection from the control system. Also, the docking/undocking units can be semi-automatic, when the mobility of the modules themselves is additionally used. In necessary cases, in order to simplify the robotic systems, the operations of docking and undocking of modules can be performed manually by the operator or manipulator. In all cases, after docking, the connection Assembly must be highly rigid and exclude uncontrolled mobility of the joined elements. The purpose of the study: the Choice of the basic types of systems of docking/undocking for mobile robots modular type that are grouped in the active group structure. Results: an overview of the known principles and devices that can be used for docking modular mobile robots is given, and their classification is given. A comparative analysis of docking devices and recommended basic samples for solving group problems are shown. New original devices and docking joints of connected modules with the formation of group structures of various applications are presented. Practical value: of the Presented device docking/undocking of the mobile robots module type allow you to create a group (swarm) of active multifunctional robotic structures with based on SEMS. Such group structures will be able to solve a wide variety of problems in extreme and a priori uncertain conditions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Yogeswaran, M., Ponnambalam, S.G.: Swarm robotics: an extensive research review. In: Fuerstner I (ed.) The Book: Advanced Knowledge Application in Practice, Chapter 14, pp. 259–278. InTech (2010)
Gradetskiy, V.G., et al.: Upravlyaemoe dvijenie mobilnych robotov po proizvolno orientirovannym v prostranstve poverxnostyam [Controlled movement of mobile robots in space on arbitrary orientation surfaces], 361 p. Nauka Publ., Moscow (2001) (In Russian)
Mondada, F., Bonani, M., Magnenat, S., Guignard, A., Floreano, D., Groen, F., Amato, N, Bonari, A., Yoshida, E., Kröse, B.: Physical connections and cooperation in swarm robotics. In: Groen, F., Amato, N., Bonarini, A., Yoshida, E., Kröse, B. (eds.) Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS8), Amsterdam, NL, 10–14 March 2004, pp. 53–60
Groß, R.: Self-assembling robots. Ph.D. thesis, Universite Libre de Bruxelles, Belgium, 201 p (2007)
Bruno, S., Oussama, K. (eds.): Springer Handbook of Robotics, 1611 p. Springer-Verlag Berlin Heidelberg (2008)
Ivanov, A.V., Yurevich, E.I., Ивaнoвm, A.B.: Mini- i Microrobototechnika [Mini- and Microrobotics], 96 p. SPb. Publishing house of Polytechnical Institute (2011) (In Russian)
Kernbach, S. (ed.): Handbook of Collective Robotics: Fundamentals and Challenges, 93 p. Pan Stanford Publishing Pte. Ltd. Singapure (2013)
Chen, F.Y.: Gripping mechanisms for industrial robots. Mech. Mach. Theory 17(5), 299–311 (1982)
Oteniy, Ya.N., Olshtynskiy, P.V.: Vybor I raschet zachvatnych ustroystv promyshlenych robotov, 65 p. RPK “Politichnik”SPb, Volgograd (2000) (In Russian)
Sandin, P.E.: Robot Mechanisms and Mechanical Devices Illustrated, 300 p. McGraw-Hill Companies, Inc (2003)
Fantoni, G., Santochi, M., Dini, G., Tracht, K., Scholz-Reiter, B., Fleischer, J., Lien, T.K., Seliger, G., Rinhart, G., Franke, J., Hansen, H.N., Verl, A.: Grasping devices and methods in automated production processes. CIRP Ann Manuf Technol 63, 679–701 (2014)
Sayapin, S.N.: Analysis and synthesis of flexible spaceborne precision large mechanisms and designs of space radiotelescopes of the petal type, Doctor Tech. Sci. Dissertation. M.: IMash RAN, Moscow (2003) (In Russian)
Delrobaei, M., McIsaac, K.A.: Connection mechanism for autonomous self-assembly in mobile robots. IEEE Trans. Rob. 25(6), 1413–1419 (2009)
Li, d., Fu, H., Wang, W.: Ultrasonic based autonomous docking on plane for mobile robot. In: Proceedings of the IEEE International Conference on Automation and Logistics, Qingdao, China, September 2008, pp. 1396–1401
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Sayapin, S.N. (2019). Principles of Docking of Modular Mobile Robots Based on Sems in Their Group Interaction. In: Gorodetskiy, A., Tarasova, I. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 174. Springer, Cham. https://doi.org/10.1007/978-3-319-99759-9_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-99759-9_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99758-2
Online ISBN: 978-3-319-99759-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)