Mu-cubes: Modular, cube shaped, and self-reconfigurable robots

Modular robotics deals with design and building of robots which can come together in versatile configurations to form a lattice shape in order to adapt to the task at hand. Each individual robot can either have different features or each have a generic form. The key feature is the ability of smaller, relatively simpler robots to come together to form larger formation, to perform complex tasks and to be multipurpose. Many robotic systems have been designed and proposed that can change their configuration and perform the task at hand. This paper presents the design, fabrication and results of a new modular, self-reconfigurable robotic cube called Mu-cubes. Each cube's edge is 6 cm in size, and magnetically bonded and autonomously driven by change in angular momentum. Inertial actuation consisting of BLDC motor, flywheel and braking mechanism impart an impulse of momentum which propel the cube in four different movements. The body of Mu-cube built with PMMA sheets of 6 mm thickness, laser cut into desired design. Diametrically oriented magnets are embedded in the edges to form magnetic hinges used in pivoting one cube with respect to other cube, while disc magnets are used to keep cubes aligned. This paper describes the Mu-cube unit's hardware design and fabrication along with results.