Actuation Design of 2D Rotational Modular Robots

In this paper, an actuation of a novel self-reconfigurable robot is focused and well designed. It uses only the single type component (electromagnets) to move by connecting to different sides of others. A self-reconfigurable robot has an octagonal shape and the advantage over the existing self-reconfigurable robot, including extra actuators are not needed to offer the ability of movement at the same time called the Octabot. A of Octabots can be easily expanded to a large scale if needed in any case. Via examining the basic mechanical functions and the operating of self-reconfiguration, the designed robotic system shows its satisfactory performance.