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Journal of the Korean Institute of Illuminating and Electrical Installation Engineers

ISO Journal TitleJ Korean Inst. IIIum. Electr. Install. Eng.
Title Design and Analysis of a Modular Unit for Reconfiguration of the Structure
Authors In-Whan Yu ; Bo-Hee Lee ; Hyun-Seon Song
DOI http://dx.doi.org/10.5207/JIEIE.2011.25.8.122
Page pp.122-131
ISSN 1225-1135
Keywords Reconfigurable Modular structure ; Wireless Controller ; Motor Torque Analysis
Abstract In this paper, the design and analysis of a reconfigurable modular structure, which reforms itself according to the change of the environment and realize appropriate forms and motions, are dealt with. This modular is a free structure from the restrictions with constraints about fixed environment and has various forms and motions by combining units. The form of this unit has a shape of a square with 7 centimeters side each, and has a structure which can be combined in a chain-shape or a lattice-shape. Additionally, The structure has a mobility by being equipped with wheels so that it can be combined for itself. In this paper, all the wireless controllers, sensor system, and communicating method between modules according to module structures were suggested and transformation method to be transformed to shape of snakes, caterpillars were presented. Moreover, simulations for each method were performed to show the validity of the motions including motor torque analysis. All the motions suggested were realized and experimented, whereby the availability of the designed mechanism and algorithm was verified with the result of experiments.