Name
Abstract | ||
|---|---|---|
We present a novel type of inter-module connection mechanism for waterborne modular robotic systems. The proposed mechanism exploits the thermoelectric effect to cool down and freeze the water between two modules thus causes them to attach to each other. We validate the feasibility of this mechanism by embedding Peltier heat pumps (m = 0.8 g) in a cm scale self-assembly system. Our experimental results demonstrate that the proposed Peltier-based connector has (a) a high bond strength/weight ratio for a rather large range of temperatures and (b) is rather robust against misalignments between docking modules, making it a useful alternative to current connection mechanisms for small scale low autonomy self-assembly systems. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/IROS.2008.4651233 | IROS |
Keywords | Field | DocType |
electric connectors,freezing,heat pumps,robots,thermoelectric devices,thermoelectricity,Tribolon,embedding Peltier heat pumps,freezing connector,inter-module connection mechanism,self-assembly system,thermoelectric effect,water based self-assembly robot,waterborne modular robotic systems | Storage tank,Embedding,Computer science,Mechanical engineering,Bond strength,Magnetic separation,Modular design,Cable gland,Robot,Thermoelectric effect | Conference |
Citations | PageRank | References |
0 | 0.34 | 1 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shuhei Miyashita | 1 | 99 | 16.66 |
| Flurin Casanova | 2 | 7 | 0.94 |
| Max Lungarella | 3 | 479 | 42.16 |
| Rolf Pfeifer | 4 | 1398 | 161.88 |