The MATS - Modular Actuated Transforming System

By Abdullah Almudaffar

The product logo

1) Modular Robotics

I'm doing this project because it offers a valuable opportunity to delve into physical components that could be relevant for my master's thesis. My interest in evolutionary robotics makes this project particularly appealing, as it allows for hands-on experimentation in real-world scenarios. The modular design of the components simplifies the testing process, making it easier to implement changes and explore different configurations efficiently.

2) Goals

The goal is to demonstrate the concept of modular robotics. The idea is to create multiple modules that can attach to and detach from a base module, three attachable modules: a core module with electronics, a servo case for connecting modules, a brick module, plus other potential external modules like wheels, grippers, etc., allowing for the construction of different robots with various purposes. I also want a simple, modular design that considers I want a minimalist design, both in terms of size and weight. At the same time, the way the modules can be connected and configured should be simple and quick, without the need for tools or taking too much time.

3) Sketch

Examples could include a snake robot, a four-legged robot, and a robotic arm manipulator like the CrustCrawler¡ªall built from the same building blocks/modules. The modules must be able to be connected easily with some kind of mechanism. Suggestions are a type of jackscrew, magnets or perhaps to design the modules as large Lego pieces that can be attached together. A challenge can be the electronics, which must also be made modular (e.g. the connection from the servo down to the main component in the core). The idea is also to try to control it wirelessly via WiFi or bluetooth if it can be done and the microcontroller has support for it. Another suggestion is also to use simulations, but then the reality gap will be a challenge.

Example of Walking Robot Config

Example of Snake Robot Config

Example of Manipulator Robot Config

4) Bill of materials