Thesis /

ROMDOC-THESIS-2017-1100

Studii şi cercetări privind dezvoltarea şi realizarea de roboţi autoconfigurabili prin module cu două grade de mobilitate

Bobocea, Geanina-Mihaela
2011-09-06

Abstract: Study and Research on Developing and Designing a Self-Reconfigurable Robot with Two Degrees of Freedom Modules PhD Thesis Abstract Autor: ing. Geanina-Mihaela BOBOCEA Conducător doctorat: prof. dr. ing. Nicolae ALEXANDRESCU The main goal of this thesis is research and development of a mini-modular robotic system that can achieve controlled movement, reconfiguration and self-replication operations. 1st Chapter: Introduction. PhD thesis goals – offers a presentation of thesis goals. 2nd Chapter: Existing self-reconfigurable modular robots structures, mobility and locomotion type – presents a worldwide-existing solutions study. 3rd Chapter deals with Self-reconfigurable modular robots existing connecting solutions. 4th Chapter involves research results from ROMAR’s robot theoretical and experimental study, in the development of which the PhD student has contributed. 5th Chapter: Research and development of new constructive and cinematic solutions to the new ROMAR module – deals with the improvement of the ROMAR robot solution proposed. 6th Chapter: Locomotion and reconfiguration of improved ROMAR module structures study – offers an analysis of cinematic and locomotion properties of a module. The goal was to develop locomotion and reconfiguration algorithms for different structures with a number of up to eleven improved ROMAR modules. 7th Chapter: Improved ROMAR modules dynamic behaviour modelling for caterpillar and quadruped configurations – focused on dynamic modelling in 20-sim development tool, in order to verify the ability of the improved ROMAR module structures to achieve different types of locomotion proposed in the 6th chapter. 8th Chapter: Self-reconfigurable modular robot remote control – dealt with solving the issues regarding robot modules’ synchronisation and optimising the command for the improved ROMAR robot. These were the main objectives of a 3-month European research stage between April 4th and July 4th 2011 at Fachhochschule Frankfurt am Main – University of Applied Sciences, in the Technische Informatik Labor, under professor Peter Nauth’s guidance. Chapter 10 – Conclusions regarding PhD thesis objectives and results – presents personal contributions and future research perspectives.

Keyword(s): ROMAR (Robot modular) ; Robotică -- Teză de doctorat ; Roboţi industriali -- Teză de doctorat ; Mecatronică -- Teză de doctorat
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