Design and Motion Analysis of a Reconfigurable Pendulum-Based Rolling Disk Robot with Magnetic Coupling
Ollie Wiltshire, Seyed Amir Tafrishi
TL;DR
The paper tackles the challenge of coupling modular rolling disk robots without external components by introducing a pendulum-actuated, magnetically coupled configuration within a compact outer shell. It combines magnetic-array optimization with a cart-pendulum dynamic model and PD-controlled motion to demonstrate independent pendulum actuation, module coupling, and fixed-link behavior, revealing novel friction- and slippage-driven motion patterns as a non-prehensile manipulation platform. The work provides a concrete design, modeling framework, and control strategy, establishing a foundation for dynamically reconfigurable robotic systems and future exploration of energy-based control and higher degrees of freedom. Overall, it advances modular robotics by delivering an internally actuated, magnetically coupled rolling-disk platform suitable for diverse non-prehensile tasks and environments.
Abstract
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel pendulum-based magnetic coupling system within a reconfigurable disk robot. Diverging from traditional designs, this system emphasizes enhancing coupling strength while maintaining the compactness of the outer shell. We employ parametric optimization techniques, including magnetic array simulations, to improve coupling performance. Additionally, we conduct a comprehensive analysis of the rolling robot's motion to assess its operational effectiveness in the coupling mechanism. This examination reveals intriguing new motion patterns driven by frictional and sliding effects between the rolling disk modules and the ground. Furthermore, the new setup introduces a novel problem in the area of nonprehensile manipulation.