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| 格式: | Recurso digital |
| 語言: | 英语 |
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Zenodo
2026
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| 在線閱讀: | https://doi.org/10.5281/zenodo.19594591 |
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| _version_ | 1866901791283609600 |
|---|---|
| author | Grillos, Chris |
| author_facet | Grillos, Chris |
| contents | <p>This paper introduces the Interlocking Modular Magnetic Shell (IMMS) architecture, a novel approach to<br>rolling robotic platform design that replaces conventional continuous-tread or monolithic-shell locomotion<br>surfaces with a reconfigurable assembly of discrete structural modules coupled by variable-force magnetic<br>interfaces. The architecture integrates three key innovations: (1) dual-purpose lateral arms that<br>simultaneously function as mechanical manipulators and as rotational alternators harvesting regenerative<br>energy from chassis rolling motion; (2) a modular magnetic puzzle-body whose individual segments<br>incorporate pressure-responsive adaptive traction actuators on both circumferential and lateral faces,<br>enabling multiaxial terrain adaptation including wall-bracing, chimney-climbing, and lateral slope<br>stabilization; and (3) inter-module kinetic induction harvesting, wherein controlled micro-displacements<br>between magnetically-coupled modules during locomotion generate supplemental electrical energy through<br>integrated induction windings. The base platform is designed as a configuration-agnostic architecture<br>supporting application-specific packages for industrial, search-and-rescue, hazardous-environment,<br>military, and other domains without modification to core subsystems. This paper presents the complete<br>system architecture, discusses engineering tradeoffs and failure-mode mitigations, and positions the IMMS<br>concept within the context of prior work in rolling robotics, modular self-reconfiguring systems, and<br>regenerative energy harvesting.<br><br></p> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_19594591 |
| institution | Zenodo |
| language | eng |
| publishDate | 2026 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | Interlocking Modular Magnetic Shell Architecture for Self-Powered Rolling Robotic Platforms with Dual-Purpose Gyro-Alternator Arms and Multiaxial Adaptive Traction Grillos, Chris adaptive traction regenerative energy harvesting modular self-reconfiguring robots rolling robotics Robotics dual-purpose manipulators terrain adaptation kinetic induction magnetic coupling <p>This paper introduces the Interlocking Modular Magnetic Shell (IMMS) architecture, a novel approach to<br>rolling robotic platform design that replaces conventional continuous-tread or monolithic-shell locomotion<br>surfaces with a reconfigurable assembly of discrete structural modules coupled by variable-force magnetic<br>interfaces. The architecture integrates three key innovations: (1) dual-purpose lateral arms that<br>simultaneously function as mechanical manipulators and as rotational alternators harvesting regenerative<br>energy from chassis rolling motion; (2) a modular magnetic puzzle-body whose individual segments<br>incorporate pressure-responsive adaptive traction actuators on both circumferential and lateral faces,<br>enabling multiaxial terrain adaptation including wall-bracing, chimney-climbing, and lateral slope<br>stabilization; and (3) inter-module kinetic induction harvesting, wherein controlled micro-displacements<br>between magnetically-coupled modules during locomotion generate supplemental electrical energy through<br>integrated induction windings. The base platform is designed as a configuration-agnostic architecture<br>supporting application-specific packages for industrial, search-and-rescue, hazardous-environment,<br>military, and other domains without modification to core subsystems. This paper presents the complete<br>system architecture, discusses engineering tradeoffs and failure-mode mitigations, and positions the IMMS<br>concept within the context of prior work in rolling robotics, modular self-reconfiguring systems, and<br>regenerative energy harvesting.<br><br></p> |
| title | Interlocking Modular Magnetic Shell Architecture for Self-Powered Rolling Robotic Platforms with Dual-Purpose Gyro-Alternator Arms and Multiaxial Adaptive Traction |
| topic | adaptive traction regenerative energy harvesting modular self-reconfiguring robots rolling robotics Robotics dual-purpose manipulators terrain adaptation kinetic induction magnetic coupling |
| url | https://doi.org/10.5281/zenodo.19594591 |