Design of reconfigurable robot based on electromagnets

This paper proposes a distributed reconfigurable robot composed of magnetic driven modules to drive the robot by electromagnets only. An overview of the proposed module is presented in this paper which includes the design concept, an overview of the mechanical and electrical systems, magnetic force dissection, system modeling, and reconfiguration examples. The reconfigurable robot is realized with a collection of the proposed modules, and each module has the ability to connect and disconnect with others. The design of the proposed modules has two major concerns: the first is the role of electromagnetism playing both the control and mechanical systems, and the other is related work to the implementation of different shapes among the modules. The special design of the proposed module has been realized via the actuation of an e-type electromagnet and demonstrated with some preliminary experimental tests of basic attraction, motion, and reconfiguration.

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