The First Step in a Self-Assembling Process in a System: A Picking-Up a Module Algorithm

This paper mainly presents a simple and robust picking up a module algorithm based on subsumption architecture, wireless communications between modules, order analysis, and robot arm dynamics for a novel concept of self-assembling robots in a system (SRS). The system consists of multiple cooperative robots that are designed to self-assemble in a system, executing manipulative tasks, and self-repair, all without human assistance. The developed algorithm allows attaching a module without changing parameters to perform work. The robot is characterized by the following designs for self-assembling: an independent module, one touch assembly design, self-alignment, self-guiding, and independent module designs, which comprise independent motor control boards and a wireless communications board. We accomplished disturbance rejection without control by a motor with a large gear ratio. With the results of dynamic simulations and order analysis, we developed a preliminary algorithm for picking up a module based on subsumption architecture. Finally, we verified the design and algorithm via an application, picking up a module in unstructured environments.