Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel pendulum-based magnetic coupling system within a reconfigurable disk robot. Diverging from traditional designs, this system emphasizes enhancing coupling strength while maintaining the compactness of the outer shell. We employ parametric optimization techniques, including magnetic array simulations, to improve coupling performance. Additionally, we conduct a comprehensive analysis of the rolling robot's motion to assess its operational effectiveness in the coupling mechanism. This examination reveals intriguing new motion patterns driven by frictional and sliding effects between the rolling disk modules and the ground. Furthermore, the new setup introduces a novel problem in the area of nonprehensile manipulation.

翻译：可重构机器人因其在协作操作中解决各类任务时无与伦比的通用性和适应性，处于机器人创新的前沿。本文探讨了一种在可重构圆盘机器人内部实现的新型基于摆锤的磁耦合系统的设计与实现。与传统设计不同，该系统强调在保持外壳紧凑性的同时增强耦合强度。我们采用参数优化技术，包括磁阵列仿真，以提升耦合性能。此外，我们对滚动机器人的运动进行了全面分析，以评估其在耦合机制中的操作有效性。这项研究揭示了由滚动圆盘模块与地面之间的摩擦和滑动效应驱动的有趣新运动模式。此外，新配置在非抓取操作领域引入了一个新颖的问题。