DeciZebro
the design of a modular bio-inspired robotic swarming platform
M. Otten (TU Delft - Industrial Design Engineering)
E Tempelman – Mentor
Rob Scharff – Coach
E.A. Hakkennes – Graduation committee member
Chris Verhoeven – Graduation committee member
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Abstract
Within this report is described the process of designing a new Zebro robot for the TU Delft Robotics Institute. Zebro is a six-legged robot specifically intended to become one of the first truly autonomous swarming robots on earth. The specific aim of this project was to design Zebro to become ready for series production, and to become a robotic platform that allows future students and companies to build upon.
This report covers an analytical phase (Chapter 2), aimed at examining the roots of Zebro and giving theoretical background regarding swarm robotics. Furthermore, a detailed oversight is given of the approach used to redesign the robot (Chapter 3). Several prominent design methods have been used within this project, including the modular approach, concurrent design approach and design for assembly. The motivation for choosing these methods, and the implications of using these methods is described within the analysis phase.
Two chapters are dedicated to the process of designing DeciZebro. These chapters show the reasoning behind design choices (Chapter 4) and ends by presenting the final result (Chapter 5). The result is a modular robotic platform called DeciZebro which can be mass produced. A series of 10 robots was produced within the context of this project as proof of concept for its manufacturability.
The final chapter (Chapter 6) of this report takes the design out into the world and asks the question; how will this robot be implemented in society? Because no autonomous swarms exist yet, this question can only be answered once the Zebro platform is working. However, within this chapter suggestions are given.
In the appendices a technical data package can be found, detailing the different parts featured in Zebro. Furthermore, a selection of important design decisions is shown within the Design Tree appendix.
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