Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Recurso digital |
| Sprache: | Englisch |
| Veröffentlicht: |
Zenodo
2026
|
| Schlagworte: | |
| Online-Zugang: | https://doi.org/10.5281/zenodo.19594591 |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
Inhaltsangabe:
- <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>