Modüler yeniden yapılandırılabilir robot modülü OMNIMO'nun tasarımı ve üretimi

OMNIMO dört adet dönme ve bir adet öteleme aktif serbestlik derecesine sahip yeniden yapılandırılabilir robot modülüdür. Robot, modüler yeniden yapılandırılabilir robotlarda ihtiyaç duyulan yüksek tek modül hareket kabiliyeti ve yüksek çoklu modül üretkenliği sağlamak amacıyla tasarlanmış ve üretilmiştir. Bu maksatla her bir robot modülü, kontrolcüler, eyleyiciler, algılayıcılar, kablosuz iletişim ünitesi, batarya, hareket mekanizmaları ve tamamlayıcı mekanik ve elektronik bileşenler ile donatılmıştır. Robotun serbestlik dereceleri sabit, serbest ve hareketli olarak kullanılabilirler. Robot modülü, melez ve homojen mimaride, üç boyutlu çalışma uzayında tamamen otonom olarak hareket edebilecek şekilde tasarlanmıştır. OMNIMO'nun gelişmiş mekanik tasarımı sayesinde robot modülü kendini beş farklı robot tipine dönüştürebilir. Ayrıca, robot kendi konfigürasyonunu iki farklı görev arasında dinamik olarak değiştirebilir. Bunun yanında birden fazla özdeş robot modülü bir arada kullanılarak farklı robot tipleri ve konfigürasyonları oluşturulabilir. Bu makalede, özgün robot modülü OMNIMO'nun tasarım detayları, donanım entegrasyonu ve üretim ayrıntıları verilmiştir, ayrıca tekli ve çoklu robot konfigürasyonları sunulmuştur

Design and construction of a modular reconfigurable robot module OMNIMO

OMNIMO is a modular reconfigurable robot module which has four revolute and one prismatic active degrees of freedom. The purpose of designing and producing of robot is providing high single robot mobility and high multi module productivity requirements in modular reconfigurable robots. In this purpose each robot module is equipped with controllers, actuators, sensing elements, a wireless communication unit, battery and complementary mechanical and electronic components. Degrees of freedom of robot can be used as fixed, free and actuated. The robot module is designed in hybrid and homogeneous architecture to move completely autonomous in three dimensional works pace. Due to sophisticated mechanical design of OMNIMO, it can realize five different robot types with single robot module. Also, it can change its own configuration dynamically between two different tasks. Moreover, by using multi robot modules together so many different robot configurations can be realized. This paper presents details of the design, hardware implementation and production details of the original robot module OMNIMO and single module and multi module robot configurations

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