The UBot modules for self-reconfigurable robot

The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient locomotion, self-reconfiguration and manipulation tasks. This robot consists of several standard modules. Each module is cubic structure based on universal joint, and has four connecting surfaces that can connect to or disconnect from adjacent modules. A hook-type connecting mechanism is designed, which could connect to or disconnect from adjacent modules quickly and reliably. This mechanism is self-locking after connected, and energy-saving. Wireless communication technology was employed in the module, which can avoid cable-winding and improve flexibility of locomotion and self-reconfiguration. One simple orientation detecting system is designed, which can detect four possible orientations by metal contact points. A group of UBot modules can adapt their configuration and function to changing environment without external help by changing their connections and positions. To achieve small oversize and mass, compact mechanical structures and electrical systems are adopted in module designing. At last, the experiment of connecting mechanism and locomotion of UBot has been implemented.