Abstract
Robots play a critical role in the healthcare sector in terms of transportation and payload delivery of important supplies. Fixed shaped morphology platforms face limitations in locomotion and manoeuvring in dynamic environments. One viable approach to overcome this bottleneck is to design the next generation of highly versatile self-reconfigurable robot base that can reconfigure its morphology in relation to the application to be deployed at a given instance, thereby, significantly optimizing resources. The developed selfreconfigurable robotWASP is a robotic system that features nested reconfigurability, can adjust its morphology for a range of payload capable of changing its shape as per the environment to be deployed like in narrow passages such as lifts or region near the beds and furniture corners to clean/disinfect inside the hospital settings. WASP aims to present deployable solutions of reconfigurable robots and mechanisms along with documentation of deployment effects of shape-shifting robot behaviours within social spaces. The outcome of this thesis is as follows. 1) Design of Payload carrying robots 2) In-depth exploration of system design and mechanical structure 3)Kinematic analysis of the designed reconfigurable robots 4) FEA and force analysis of selfreconfigurable robot platforms and simulation of potential use cases of the platform