Toward a 2D Modular and Self-Reconfigurable Robot for Conveying Microparts

This paper describes the design, prototyping and control of a 2D modular and self-reconfigurable robot for conveying microparts. The elementary block is designed to have a package dimension under 1 cm³ and will include the actuators, the electronics and the micro-controller. Electropermanent (EP) magnets are used for both the linkage and the traveling system to avoid any power consumption during the linkage. Some prototype blocks have been realized and show a well working of the motion and a sufficient holding force. The paper presents also an algorithm, common to all blocks units, allowing to reconfigure a set blocks from a spatial configuration to another one. This algorithm is implemented in a simulator software showing in real-time the reconfiguration of the robot.