Introduction

This page contains a collection of thoughts that I have had over the past few years concerning a modular robotics framework. None of this has been tested nor validated, simply because I have not the resources nor the time. I am sorry if this page seems a bit confusing, I am not very good at explaining my thoughts. If you have questions, feel free to PM me or comment below.

Preliminary Concept

Concept Overview

This modular robotics framework will consist of two different types of modules: cores and linkages. Cores are spherical modules that contain the primary logic circuits of the system. Linkages are cylindrical modules that contain the system's power supply. Cores and linkages arrange in a way similar to meshes in video game programming: cores are the vertices, and linkages are the edges. The system will arrange in such a way as to form triangles with the edges, similar to a delaunay triangulation. See below for an example of a 2D delaunay triangulation.

This arrangement maximizes power efficiency: for every new core, there are at least two more linkages to support it, oftentimes more. Rough estimates of what each would look like are below.

Connections between Cores and Linkages

Cores have six electromagnets embedded in their shells: one for each axis. Linkages have a single electromagnet on each of their tips, for a total of two electromagnets per linkage. Linkages are able to traverse the metal surface of the cores via the following method. Each of the core's electromagnets oscillate between North and South at a specific frequency. These frequencies, and their resulting wave-forms, are the result of multiplying a base synchronization wave frequency by a power of two (f = fs * 2^X where X = the id of the electromagnet and fs = the frequency of the sync wave). The identification numbers for the electromagnets are as follows:

0. Top
1. Right
2. Bottom
3. Left
4. Back
5. Front

Since the right electromagnet cycles twice for every cycle of the top electromagnet, the two never interfere and stay in sync. If the linkage electromagnet is set to oscillate at the frequency of the right electromagnet, it will be attracted only to that electromagnet. This is because the bottom electromagnet is North for half of the cycle and South for the other half, attracting it for half and repelling it for the other half. Likewise, the linkage would be North for half of the top electromagnet cycle and South for the other, resulting in zero attraction or repulsion. However, since the linkage and the right electromagnet would be in sync and in phase, they would become attracted or repelled, depending on whether the linkage has reversed the polarities. The linkage would remain on the surface of the core because the surface is composed of a ferromagnetic metal.

Inter-Module Communication

Communication between modules is a very difficult task, especially with such a configuration. One possible solution is to build the shell of the cores out of small isolated cells that could be used to send messages. Obviously, all of the signal cells would be wired together to avoid having an unnecessary amount of outputs from the core's processor. Messages would begin with the id of the intended recipient, and the message would be propagated through the system until it reaches the intended recipient. Unfortunately, I don't know of a way to ascertain that the contacts on the linkage would make perfect contact with the cells and avoid shorting them out.

Conclusion

Thank you for reading my thoughts. I never thought I would ever type that sentence. If you have questions, please feel free to ask me through PM, email (bwtbutler@hotmail.com), or in the comments below. I will continue to update this page as new information becomes available.