M blocks

Modular Robotics - M-Blocks

1. MoDular Robotics- m- bLOCKS 1 Guided by, Assistant Prof: MRS JUBAIRA MAMMOO Presented by, NITHIN GEOR GE S7 EC Roll no: 31

2. CONTENTS Introduction Modular robots Types of modular robots Molecube M-blocks Working Application Limitation Conclusion 2

3. INTRODUCTION What if robots could reassemble themselves. As in the film Transformers, wherein alien robots morph from cars and trucks into giant humanoid fighting machines. We are going to explore such type of robots. They are called as Modular Robots or Self assembling robots. 3

4. Modular robot Modular robot is made of small units which consist of common or different hardware parts and shape. These units can be connected by any means of locking or connecting mechanism to perform a specified task. They change its shape by rearranging each units. 4

5. Types of modular robot Two main types Molecube Pivoting cube or M-Block Fig 1: Molecube Fig 2: Pivoting cube 5

6. MOLECUBE Molecubes are sliding cube model. Each module move by sliding over the other block. Fig 3: Pattern of molecube 6

7. Movement of molecube 7

8. M-BLOCK OR PIVOTING CUBE To overcome lack of independent motion of molecubes . They can exhibit several motions Rolling. Spinning in plane. Jumping. They are controlled by a single actuator. Fig :M blocks movement 8

9. MOVEMENT OF M-BLOCKS 9

10. Features Weight –143g. Constructed from 50mm cubic frame using Aluminium . Have 24 cylindrical bonding magnet on the edges. Each face has 8 outward facing magnet that assist in alignment between neighboring models. 10 M-Block

11. Electronic components Battery –3.7V 125 mAh LiPo . The MPU6050 -Three axis gyroscope. BLDC (brushless DC motor). Custom built PCB board. Microcontroller -32bit ARM processor. Communication – Xbee (802.11.4). Fig :M-Block 11

12. Structure and design When two cubes approach each other, the magnets naturally rotate, so that north poles align with south, and vice versa. On each face of a cube are four more pairs of smaller magnets. Any face of any cube can thus attach to any face of any other. 12

13. WORKING OF M-BLOCK A flywheel is a rotating mechanical device. The flywheel can reach speeds of 20,000rpm. It store rotational energy. Brakes impart angular momentum to the module. Fig : Flywheel section 13

14. Cont … To detach from the magnetic bond ,it need to provide a torque for a relative short period of time. Therefore actuator needs to release energy in a short period of time To create an impulsive torque required to detach the cube from magnetic bond. 14

15. Cont … For this a BELT type braking system is used, it is actuated by a servo motor. Fig : Braking of flywheel 15

16. APPLICATIONS Building massive structures Defense technology Fire fighting Medical applications Space exploration 16

17. BUILDING MASSIVE STRUCTURES Reduces the hard ships in civil engineering. Reduces number of different construction tools 17

18. FIRE FIGHTING To enter a building through small entrances. To support the building from collapse. 18

19. Cont … To get past obstacles and reach the structures that need to be repaired. To save people trapped under fallen buildings 19

20. DEFENSE TECHNOLOGY Revolutionize the military warfare style. Can dodge incoming shells by opening a hole in any direction. 20

21. MEDICAL APPLICATIONS To perform an operation without open up the patient. 21

22. LIMITATIONS Technology is still in infancy. Current cost is very high Needs very precise & flexible controlling software. Lack of development in the field of NANO technology 22

23. CONCLUSION It may take few years to make commercial appearance . It will not take much time for it to be used in our everyday life. Using Modular Robots will help in saving economy, time etc . Has endless possibilities for further development. 23

24. REFERENCES John W. Romanishin , Kyle Gilpin and Daniela Rus “ M-Blocks:Momentum-driven , Magnetic Modular Robots” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan. November 3-7, 2013. Cynthia Sung, James Bern, John Romanishin , and Daniela Rus “Reconfiguration Planning for Pivoting Cube Modular Robots” -2015 IEEE International Conference on Robotics and Automation (ICRA)Washington State Convention Center Seattle, Washington, May 26-30, 2015 24

25. THANK YOU FOR LISTENING 25

26. 26 QUESTIONS ?