Edubot: a reconfigurable kit for control education. I. Mechanical design

This paper describes the mechanical design of a reconfigurable educational robotic kit, named the Edubot. This kit can be easily assembled to perform a wide range of both linear and nonlinear control system experiments. The modular design is described and a subset of the possible configurations shown. Two prototyped designs are detailed and critiqued. A Pendubot and an Acrobot are used as case studies to demonstrate the kit.