A DYNAMIC MODEL FOR FLYWHEEL-BASED PIVOTING IN RECONFIGURABLE CUBIC MODULES

This paper introduces a dynamic model of a novel flywheel that provides a pivoting motion for a cubic module in reconfigurable systems. The challenges associated with pivoting motion for lattice-type self-reconfigurable modular robots are investigated, particularly the momentum-driven ones, where the existing models use two separated systems for actuation and braking. The proposed system allows a combined actuation and braking system, to manage the pivoting action. The mathematical model of the dynamical flywheel is developed according to Newton’s Law. The flywheel has a variable diameter depending on the angular speed, where the sudden brake is applied by the collision between the flywheel end and the braking notch. The angular momentum transfer from the flywheel to the module body provides pivoting torque, which is the fundamental principle in momentum-driven systems. The dynamic model is verified by experimental studies. The experimental findings indicate that the success rates of the proposed system are 90% and 80% for traverse and horizontal traverse pivoting motion respectively. The average time duration for traverse and horizontal traverse pivoting motion are 0.906 and 0.763 seconds respectively. Based on the findings, the study indicates that the developed flywheel is a potential candidate for a pivoting actuator in the self-reconfigurable modular robotic field.