Design and Operation Principles of the Magnetomechanical Connector of the Module of the Mobile Autonomous Reconfigurable System

The object of this research is a multifunctional modular robot that can reconfigure the nodes and operatively change their position in the process of operation depending on the current task. The purpose of work is to study and develop homogeneous groups of robots capable of moving autonomously and forming various structures by connecting separate modules to each other. The novelty consists in the design of a module for mobile autonomous reconfigurable system (MARS), which differs from the analogues by the presence of a hybrid coupling mechanism embedded into the motor-wheel module. The developed magnetomechanical connector provides for positioning of the robotic modules relative to each other at the coupling stage and the connection of blocks of complex structures. Control of the polarity of the magnetic circuit, which is part of the connector, is carried out by the supply of short-term pulses that perform the coupling and decoupling of the units. In the course of experiments, we determined the parameters of the magnetic circuit and the principles of the functioning of the combined magnetic circuit ensuring the energy efficiency of the connector. The module moves along surfaces by means of motor wheels which comprise the coupling system of the modules. This approach allows one to save space in the robotics module and efficiently use its main part for the arrangement of power supplies and control devices. Two schemes for placing sets of magneto-mechanical connectors in the basic module were proposed.