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The module for a self-reconfigurable robotic system

The article presents design of a new type of a module for self-reconfigurable robotic system. The designed module is a complex unit consisting of fifteen sub-modules. The module is able to connect to other modules, submodules of others modules or split itself to sub-modules to perform a desired action. This article presents the process of module shape design to maximize the usable volume with acceptable force power effect between sub-modules. Moreover, the article presents the first physical version of the module, which was designed to verify proposed kinematics of the module and for experimental verification in three types of predefined movements.