IEEE Robotics & Automation Magazine - September 2013 - 62
elements are cumbersome to manipulate. The development of
standards for joint connections and elements has been crucial
in the progress of modular assembly in the construction
industry. Furthermore, the lack of robot-friendly joints and
elements has significantly limited the deployment of robots in
the construction field.
We explore the codesign of both a robot and structural
components for the explicit purpose of robotic structure
reconfiguration. Two different robots are described. Robot
version one (R1) is used to demonstrate motion within a test
structure. By executing a series of climbing motions, R1 can
maneuver between the horizontal and vertical planes of a
structure and traverse multiple nodes in one run. The second
version of the robot (R2) is capable of demonstrating disassembly of an entire vertical structural plane and assembly of
individual truss components. The two robots represent two
generations of development in our project. A picture of the
concept as well as robot R2 during disassembly can be seen in
Figure 1.
(a)
(b)
Figure 1. Truss-reconfiguring robot: (a) concept and
(b) implementation.
repair a damaged structure or autonomously adapt an
existing structure to a new function can have applications
ranging from disaster recovery to space exploration.
One of the key challenges in designing a structure-reconfiguring robot is that most current structural building blocks
are designed for manipulation by humans, not by machines.
Structural joints require complex assembly, and truss
Female Bidirectional Gear
Background and Previous Work
Numerous designs exist that demonstrate robots climbing
on walls, traversing poles, and navigating truss-like or
tubular structures. Only a few present the ability to
manipulate these structures or demonstrate performance
statistics about traversing multiple joints-a key performance metric.
An overview of the different climbing robots is provided
in Table 1. Attachment mechanisms used include suction
cups, magnetic mechanisms, gripping mechanisms, and
adhesive mechanisms. From this group, only Skyworker [1]
demonstrated the ability to add a beam to a structure.
Shady 3-D [2], [26], [28] demonstrated the ability to create
a higher degrees of freedom (DoF) robot using two Shady
3-D robots connected with a passive module. Several structural designs were simulated that could be built with passive elements and Shady 3-D robots. Dogget [3] designed a
Male Bidirectional Gear
Chairlike Structure
Assembled Joint
Rigid Connector
(a)
(b)
Figure 2. Truss structure: (a) design of bidirectional gear rod and (b) fully assembled chairlike structure using rigid connectors.
62
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IEEE ROBOTICS & AUTOMATION MAGAZINE
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september 2013
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