Design and construction of a modular reconfigurable robot module OMNIMO

OMNIMO is a modular reconfigurable robot module which has four revolute and one prismatic active degrees of freedom. The purpose of designing and producing of robot is providing high single robot mobility and high multi module productivity requirements in modular reconfigurable robots. In this purpose each robot module is equipped with controllers, actuators, sensing elements, a wireless communication unit, battery and complementary mechanical and electronic components. Degrees of freedom of robot can be used as fixed, free and actuated. The robot module is designed in hybrid and homogeneous architecture to move completely autonomous in three dimensional works pace. Due to sophisticated mechanical design of OMNIMO, it can realize five different robot types with single robot module. Also, it can change its own configuration dynamically between two different tasks. Moreover, by using multi robot modules together so many different robot configurations can be realized. This paper presents details of the design, hardware implementation and production details of the original robot module OMNIMO and single module and multi module robot configurations.