부산대학교 도서관

This paper explores the design of Compliant Nodes to improve a modular robot called Variable Topology Truss (VTT), allowing it to change shapes automatically. The study also suggests practical methods for using these nodes effectively. In earlier VTT models, nodes were limited to spherical joints, making it challenging to maintain their shape when constraints were incomplete. This often required manual reassembly to modify the robot’s structure. To overcome this, current research focuses on adding flexibility to the nodes, enabling them to reshape autonomously. In this effort, the paper examines the design concepts of the nodes and establishes conditions for their movement once new hardware is developed. The study identifies key features and shapes that nodes should have, contributing significantly to future research in the field. These proposed improvements aim to address past challenges, making it easier for the VTT robot to transform its structure seamlessly and automatically.