Cellular robotic system with stationary robots and its application to manufacturing lattices

摘要

Cellular robotic systems (CRS) use a large number of robots operating in a cellular space under distributed control. A subclass, CRS with stationary robots and passive objects (SCRS), is examined. An SCRS consists of an array of stationary robots at fixed locations. They are used to manipulate a collection of objects within the cellular space such that predefined (global) static and dynamic properties for the 'field' of objects are induced by distributed algorithms. Example protocols of 1D SCRS that form various patterns of objects are presented. As an application of SCRS, a manufacturing lattice (ML) is defined as a collection of uniformly shaped and densely packed cells. Typical geometric shapes of ML cells are rectangular, rhombus, hexagonal, or triangle. MLs support batch processing of single products as well as flexible manufacturing and prototyping. The proposed mechanical structure and electrical control mechanism of MLs are also discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>