Rapidly Prototypable Hexagonal Modular Robots with Motor-Driven Fluidic Actuators for Resource-Constrained Environments

Overview

Modular robotics enables the application of robotics in areas that were inaccessible, as traditional robots require money, iteration, and time to design, like rapid-relief disaster zones, emergencies in space, and highly variable environments. However, previous systems lack a fully integrated pipeline from the design stage, meaning much work remains in programming and organizing modules. This project develops a modular robotics system encompassing hardware and software, minimizing size, design time, and low-level human work, while retaining the capabilities and performance of traditional systems. Each module is a hexagon made of 6 PCBs with RS-485 and I2C buses exposed on all sides, allowing inter-modular and external communication. An ATMega328PB microcontroller controls the system, enabling position feedback and actuation independently. A visual configurator in WeBots allows users to assemble and actuate hexagons in simulation before deploying to the physical system, reducing iteration and the need for low-level code. To address space constraints, a hydraulic pouch force-transfer system allows motors to transfer force through fluid, eliminating wear, tear, and sizing issues from traditional gears and belts. Ten modules were tested in three configurations: a bicep for strength, a three-fingered gripper for precision, and a vibrating locomotor for endurance. The gripper exceeded the dexterity of a traditional servo-driven claw while maintaining strength. The bicep showed a 25% higher power-to-mass ratio than a traditional SG90 servo, and the locomotor survived 4,000 cycles, similar to a low-cost hexapedal robot, showing that a modular system can abstract low-level design while maintaining the abilities of traditional robots.

Competition history

• CSEF 2026 Applied Mechanics (Senior Division) · Entry S-02-04

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