Optimized binary modular reconfigurable robotic devices

Binary robotic devices with large numbers of degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex, and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematics structure. Its binary actuation simplifies its control architecture. Analytical and experimental results for a practical prototype system are presented.