Reconfigurable robots offer significant potential for adapting to diverse tasks; however, conventional centralized architectures often require dedicated actuators for each module, leading to substantial increases in overall system weight, volume, and cost. To address these challenges, this paper presents the"Detachable Wire Drive,"a reconfigurable robotic system that enables the sharing of heavy and expensive actuators across various morphologies. The core of this system is the"Wire Detach Unit,"a mechanism designed to physically split and reconnect wire drive paths, allowing motors to be consolidated into a common base unit. We demonstrate the versatility of this approach by developing a 2-DOF rigid arm, a continuum arm, and two distinct grippers, all of which are interchangeably attached to, and driven by, a single shared actuator set. Experimental results validate the mechanical reliability of the detachment process and the control framework's ability to seamlessly manage transitions between configurations, highlighting a path toward more efficient and multi-functional robotic systems.
Robots that can change their morphologies and behaviors for different tasks and environments hold great promise for adaptable, multifunctional systems. Modular reconfigurable robots (MRRs) can achieve such functionalities by docking and rearranging individual units, but most rely on rigid modules that lack structural c...
Md Mahmud Hasan Saikot, Sydney B. Spiegel, S. A. Kariyawasam et al.· 0 citations
Soft robotic arms, which are most commonly constructed from fluid-driven actuators, have demonstrated a high degree of compliance and the ability to move in simple and complex ways, from single bends to whole-arm gripping to drawer opening. However, their practical applications have been constrained by limited load-bea...
Yu-Chen Kang, Gina Olson· IEEE Robotics and Automation...· 0 citations
Improving the adaptability and versatility of micro aerial robots is crucial for expanding their application range. In this paper, we present a transformable tethered aerial platform composed of two bicopters tethered together with a cable, which is capable of mid-air transitions and robot-environment physical interact...
Ruo-Bing Wang, Song-Nan Bai, Kai-Xu Dong et al.· The international journal of...· 0 citations
Continuum robots offer advantages such as a slender structure and high dexterity, making them particularly suitable for operation in confined and complex environments. However, their bulky drive systems severely limit their application in such spaces. To address this issue, this paper presents a continuum robot with mu...
Jing Li, Yu-Xin Zhu, Ming Luo et al.· Journal of Physics, Conferen...· 0 citations
The precision and flexibility of Concentric Tube Robots (CTRs) makes them well-suited for delicate surgeries and complex tasks in constrained environments, such as minimally invasive procedures. However, traditional CTRs can be bulky, as actuation typically requires multiple motors directly connected to the individual...
Dionysios Malas, C. Seneci, Ross Henry et al.· IEEE Robotics and Automation...· 0 citations
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