NDLI: The magnetic self-aligning hermaphroditic connector a scalable approach for modular microrobots

Content Provider	IEEE Xplore Digital Library
Author	Nagy, Z. Abbott, J.J.
Copyright Year	2007
Description	Author affiliation: ETH Zurich, Zurich (Nagy, Z.)
Abstract	Modular microrobots will enable exploration and manipulation in tiny and difficult to access spaces. Modularity allows reconfiguration for adaptation to unstructured environments. In addition, individual modules can be designed for simple specific functions, thereby reducing fabrication complexity and easing downscaling. For modular microrobots, a robust connection mechanism is indispensable. In this paper, we introduce a magnetic self-aligning hermaphroditic connector. Self-alignment is achieved by a specific magnetic design that creates an attractive force, as well as a torque that aligns the mating faces into a known configuration. Each mating face is identical, and this hermaphroditic design, combined with self-alignment, provides a priori knowledge that once a mechanical connection is established, the intramodular communication system is also functional. Experiments with upscaled models demonstrate robust self-alignment and the desirable characteristics of the communication system. The use of magnets for the mechanical connection is the key for the scalability of the connector, as geometrical downscaling is favorable for magnet-magnet interaction and no moving parts are required. The analysis presented here will enable an optimal design of microscaled connectors.
Starting Page	1
Ending Page	6
File Size	3659562
Page Count	6
File Format	PDF
ISBN	9781424412631
DOI	10.1109/AIM.2007.4412519
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-04
Publisher Place	Switzerland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Connectors Robustness Magnets Fabrication Torque Communication systems Actuators Intelligent robots Intelligent sensors Scalability connection Self-alignement reconfiguration
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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