Interlocking Modular Magnetic Shell Architecture for Self-Powered Rolling Robotic Platforms with Dual-Purpose Gyro-Alternator Arms and Multiaxial Adaptive Traction

This paper introduces the Interlocking Modular Magnetic Shell (IMMS) architecture, a novel approach torolling robotic platform design that replaces conventional continuous-tread or monolithic-shell locomotionsurfaces with a reconfigurable assembly of discrete structural modules coupled by variable-force magneticinterfaces. The architecture integrates three key innovations: (1) dual-purpose lateral arms thatsimultaneously function as mechanical manipulators and as rotational alternators harvesting regenerativeenergy from chassis rolling motion; (2) a modular magnetic puzzle-body whose individual segmentsincorporate pressure-responsive adaptive traction actuators on both circumferential and lateral faces,enabling multiaxial terrain adaptation including wall-bracing, chimney-climbing, and lateral slopestabilization; and (3) inter-module kinetic induction harvesting, wherein controlled micro-displacementsbetween magnetically-coupled modules during locomotion generate supplemental electrical energy throughintegrated induction windings. The base platform is designed as a configuration-agnostic architecturesupporting application-specific packages for industrial, search-and-rescue, hazardous-environment,military, and other domains without modification to core subsystems. This paper presents the completesystem architecture, discusses engineering tradeoffs and failure-mode mitigations, and positions the IMMSconcept within the context of prior work in rolling robotics, modular self-reconfiguring systems, andregenerative energy harvesting.