Journal of the Korean Institute of Illuminating and Electrical Installation Engineers (조명전기설비학회논문지)

The Korean Institute of IIIuminating and Electrical Installation Engineers (한국조명전기설비학회)
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Design and Analysis of a Modular Unit for Reconfiguration of the Structure

구조물의 가변성을 위한 모듈형 유닛의 설계 및 해석

  • Received : 2011.07.07
  • Accepted : 2011.07.25
  • Published : 2011.08.31
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Abstract

In this paper, the design and analysis of a reconfigurable modular structure, which reforms itself according to the change of the environment and realize appropriate forms and motions, are dealt with. This modular is a free structure from the restrictions with constraints about fixed environment and has various forms and motions by combining units. The form of this unit has a shape of a square with 7 centimeters side each, and has a structure which can be combined in a chain-shape or a lattice-shape. Additionally, The structure has a mobility by being equipped with wheels so that it can be combined for itself. In this paper, all the wireless controllers, sensor system, and communicating method between modules according to module structures were suggested and transformation method to be transformed to shape of snakes, caterpillars were presented. Moreover, simulations for each method were performed to show the validity of the motions including motor torque analysis. All the motions suggested were realized and experimented, whereby the availability of the designed mechanism and algorithm was verified with the result of experiments.

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References

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