| Summary: | 碩士 === 修平科技大學 === 電機工程碩士班 === 102 === In this thesis, design and control of the modular robot are discussed. The Modular robot is made of a set of robotic modules with the ability to change the shape by having cooperation among the multiple robot modules. In these designed modular robots, they comprise several modules individually with actuators controlled by their own on-board processing units, and these individual modules have the basic motion capability and control functions. Based on the optical sensors mounted on the connected faces of the modular robot can provide the relative position information for self-recognition. Through the self-recognition program, the modular robot can judge their configuration and execute the different motion. The ZigBee wireless module is used to synchronous start the modular robot, and provided to select the different motion.
In the experimental results, using the neodymium magnet between connected faces of the robot modules, they can provide the connected force when the modular robot is motion. Based on the robotic module, the modular robot can be formed by a set of robotic modules with the ability to change the shape by letting the multiple robot modules cooperate. Furthermore, some experimental results are demonstrated to show the effectiveness of the Neodymium Magnet Modular Robot with satisfactory performances.
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