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Autonomous Robots

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01.01.2016

Soldercubes: a self-soldering self-reconfiguring modular robot system

verfasst von: Jonas Neubert, Hod Lipson

Erschienen in: Autonomous Robots | Ausgabe 1/2016

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Abstract

Soldercubes are a self-reconfiguring modular robot (MR) system whose modules are light weight, low cost, and designed with manufacturability for large batch production in mind. The frequently cited promises of modular robotics—versatility, robustness, and low cost—assume the availability of large numbers of modules. However, modules in most MR prototypes are large, mechanically complex, expensive, and difficult to manufacture. Soldercubes partially overcome this contradiction through optimizing some components for volume manufacturing processes. With the integration of a soldering connector which weighs only 2 g and has no moving parts, Soldercubes are among the cheapest, lightest and smallest among comparable self-reconfiguring MR systems. This paper describes the Soldercube module design in detail, reports on experiments in a lattice configuration, explores non-lattice applications of the system, and discusses the effects of utilising volume manufacturing processes in module production. All Soldercubes design files are released as open source hardware.

Vorheriger Artikel Ellipsoid SLAM: a novel set membership method for simultaneous localization and mapping

Nächster Artikel Spatial adaption of robot trajectories based on laplacian trajectory editing

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Even where the cost of fabrication and assembly is available, reported prices normally exclude the cost of assembly labor, such as PCB assembly, and the cost of fabrication for in-house fabricated components. In addition, the batch size for which prices are quoted is omitted. This makes a direct comparison of MR in the cost dimension difficult.

In systems with one rotary d.o.f. per module, space is divided into two halves: Lattice cells can be thought of as arranged in a three dimensional checkerboard pattern. Modules in “black” lattice cells are not able to move to “white” cells and vice versa (Spröwitz et al. 2010; Salemi et al. 2006).

The actuation module is an exception and only contains four sensors. The remaining two, located on the rotation axis, are omitted due to space constraints.

Full bills of materials including vendor information for all components are available from the Soldercubes project website.

In this section, compass directions are used to describe relative orientation.

At a batch size of 50. The fraction reduces to 55 % at batch sizes of 5000 and higher.

At a batch size of 50. The fraction increases to 10 % at batch sizes of 5000 and higher.

Ignoring for all costs associated design iterations and waste. Theoretical parts cost of of 12 actuated modules at USD 335, 3 energy modules at USD 151, and 25 passive modules at USD 100.

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Titel: Soldercubes: a self-soldering self-reconfiguring modular robot system
verfasst von: Jonas Neubert
Hod Lipson
Publikationsdatum: 01.01.2016
Verlag: Springer US
Erschienen in: Autonomous Robots / Ausgabe 1/2016
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-015-9441-4

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