A self-configuring modular robot

Abstract

The present invention provides a self-configuring robot comprising a plurality of module units to impart linear and rotational movement to the robot. The module unit comprises: a top plate and a base; a main support connecting center of the top plate and center of the base, the main support comprising a sliding mechanism; a first linear actuator, a second linear actuator and a third linear actuator attached to the top plate at a first end and the base at a second end; a fourth linear actuator connects the base of the module with the sliding mechanism on the main support; a connection mechanism at the top plate to connect the top plate of the module with base of a second module.

Description

A SELF-CONFIGURING MODULAR ROBOTFIELD OF THE INVENTION

[0001] The present invention relates to the field of robots and more particularly, to a universal selfassembling (self-configuring) modular and upgradable robot designed to allow for flexible and adaptive operation of robots, depending on the required task.BACKGROUND OF THE INVENTION

[0002] Robots have for quite some time been utilized to carry out tasks, going from development and industrial facility collecting to cleaning and studying. But robots that can reconfigure or reassemble themselves to perform different tasks defined as modular robot made out of units (modules) homogeneous and near-homogenous in shape and function, and whose physical shape can be reconfigured. A subset of the self-assembling or self-reconfiguring robot has the property of selfreconfigurability, implying that the robot can change the topology wherein its own modules are connected.

[0003] The module is one of a separate unit that can be joined together to make a robot, it is the basic unit in the modular robot. So, any group of these modules makes a chain (or robot that consists of many chains) that has a high degree of freedom, a higher number of modules, and a higher degree of freedom.

[0004] The benefits of modular robots are based on: (i) Versatility: different tasks need different functionalities; in a modular robot, these functionalities can be gathered by assembling the convenient modules, (ii) Robustness: if a module fails, only the functionality of this specific module is affected; the rest of the robot still can work ordinarily, and the failure model can gently be replaced, (iii) Dueto the uniformity of the robot's units, it is possible to engage in mass production, thereby streamlining the manufacturing process.

[0005] A self-assembling robot can be used in many tasks and fields, such as: (i) It can be used in factories where it can update itself to be competitive in new technology or size and shape, (ii) It has the capability to rapidly construct structures such as bridges, walls, and other similar infrastructures, (iii) and finally, can be used for some home tasks and educational purposes.

[0006] Researchers have started developing this kind of robot since the beginning of the current century with different names, such as a self-aligning robot, modular robots, self-assembling robot, 4d-printing, self-reconfiguring robot, MTRAN3 Modular Robot, some of them depend on motors in their movement and others depend on momentum.

[0007] The conventional design of modular robots is associated with several limitations, primarily due to their slow movement in transitioning between positions and the lengthy paths required due to their design. However, an enhanced modular design for a self-configuring robot is proposed to address these issues. This upgraded design provides a higher degree of freedom, enabling the robot to move and reconfigure itself much more efficiently.SUMMARY

[0008] In an aspect of the present invention, a self-configuring robot comprising a plurality of module units to impart linear and rotational movement to the robot is provided. The module unit comprises: a top plate and a base; a main support connecting center of the top plate and center of the base, the main support comprising a sliding mechanism; three linear actuators attached to the top plate at a first end and the base at a second end; a fourth linear actuator connects the base of the module with the sliding mechanism on the main support; a connection mechanism at the top plate to connect the top plate of the module with base of a second module.

[0009] The base of the module comprises a housing for accommodating blades at the top plate of the second module. The module provides five degree of freedom to the self-configuring robot: translation along the X-Z plane, and inclination about X or Y axis; translation along X-Y plane, rotation about Z-axis. The first, second and third linear actuator are at 120 degree angle to each other. The fourth linear actuator is at 60 degree apart from the first and the second linear actuators; as is in the same plane of the third linear actuator.

[0010] All linear actuators comprise: a motor to generate rotary motion; a driven gear and a driver gear that connects the motor to a nut, the rotary motion is transferred form the driver gear to the driven gear and then to the nut; a power screw connected to the nut, the nut transmits the rotary motion to the power screw, so the power screw transform the rotary motion into linear motion; a hallow shaft ends with a round plate attached to the driven gear from the top by a pin and slot, the round plate is set between two thrust bearing from the bottom; a pair of universal joints at two ends of the linear actuator that connects the two ends of linear actuator with the top plate and the base of the module.

[0011] The connection mechanism of the module comprises a plurality of blades that winds or unwinds around a center. The connection mechanism comprises a main disk, a rod collector; a stepper motor for opening, closing and holding a plurality of blades and rotating the mechanism components; a servo motor for controlling a clutch system and converting function of the plurality of blades to rotating the mechanism components to rotating the second module; wherein provides a relative angular velocity between the rod collector and the main disk; wherein the plurality of blades open when the main disk rotates counterclockwise and the plurality of blade closes when the main disk rotates clockwise.

[0012] The clutch system of the module comprises: a first clutch component; a second clutch component; a cylindrical body to separate the first clutch component and the second clutch component; one or more hook and loop fasteners in shape of lineal fabric strips to attach the clutchsystem pieces, said loops are used in the first clutch component and said hooks are used in the second clutch component; wherein when the first clutch component and the second clutch component are pressed, the hooks catch up in the loops and gets connected; a three bar mechanism comprising a main arm, a servo motor arm and an auxiliary arm; wherein the servo motor controls the three bar mechanism by moving the three bar mechanism in upward direction to link the second clutch component with the rod collector and in the downward direction to link the first component with the rod collector.

[0013] When the rod collector is connected to the first clutch part, the rod collector rotates at the same speed as the main disk and the state of the plurality of blades remain unchanged, and the plurality of blades rotates with the main disk and the rod collector. When the rod collector is connected to the second clutch component, the rod collector gets stationary and the state of the plurality of blades changes due to the relative motion.

[0014] The sliding mechanism of the module comprises a cylinder connected to the base of the module and the fourth linear actuator by a rotational joint; a slider having a universal joint at the end connected with the top plate of the module; a support to stabilize the sliding mechanism; wherein the fourth linear actuator pushes or pull the cylinder and moves the top plate of the module in a different orientation.BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The preferred embodiment of the invention will hereinafter be described in conjunction with the appended drawings provided to illustrate and not to limit the scope of the invention, wherein like designation denote like element and in which:

[0016] FIG. 1 illustrates a module used in a self-reconfiguring robot in accordance with an embodiment of the present invention.

[0017] FIG. 2 illustrates a module at different states showing a plurality of degree of freedom in accordance with an embodiment of the present invention.

[0018] FIG. 3 illustrates different parts of the module that interact with each other to impart motion to the module in accordance with an embodiment of the present invention.

[0019] FIG. 4 illustrates a Linear Actuator and a cross-section view of the Linear actuator in accordance with an embodiment of the present invention.

[0020] FIG. 5 illustrates exploded view of the linear actuator in accordance with an embodiment of the present invention.

[0021] FIG. 6 illustrates the sliding mechanism and a cross section view in accordance with an embodiment of the present invention.

[0022] FIG. 7 illustrates exploded view of the sliding mechanism in accordance with an embodiment of the present invention.

[0023] FIG. 8 illustrates an exploded view of the base of the module in accordance with an embodiment of the present invention.

[0024] FIG. 9 is a top view of the module showing a connection mechanism in accordance with an embodiment of the present invention.

[0025] FIG. 10 illustrates the connection mechanism and a cross-sectional view in accordance with an embodiment of the present invention.

[0026] FIG. 11 illustrates exploded view of the mechanical connection mechanism in accordance with an embodiment of the present invention.

[0027] FIG. 12 illustrates the connection mechanism with blades fitted in the base of another module in accordance with an embodiment of the present invention.

[0028] FIG. 13 illustrates a cross section view of connection mechanism using a clutch system in accordance with an embodiment of the present invention.

[0029] FIG. 14 illustrates the degree of freedom explanation of the module in accordance with an embodiment of the present invention.

[0030] FIG. 15 illustrates an arm modular robot and a spider modular robot that might be formed in accordance with an embodiment of the present invention.DETAILED DESCRIPTION OF THE INVENTION

[0031] In the following detailed description of embodiments of the invention, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. However, it will be obvious to a person skilled in the art that the embodiments of the invention may be practiced without these specific details. In other instances well known methods, procedures and components have not been described in detail so as not to unnecessarily obscure aspects of the embodiments of the invention.

[0032] Furthermore, it will be clear that the invention is not limited to these embodiments only. Numerous modifications, changes, variations, substitutions and equivalents will be apparent to those skilled in the art without parting from the spirit and scope of the invention.

[0033] The present invention provides a self-reconfiguring robot that shapes itself via modular movement and comprises a plurality of module units. Each of the module units supports linear and rotation movements of the robot depending on the operational requirement. The module is configured to be adaptable to different scenarios, including the final shape of the robot that may require increasing or decreasing the number of operating modules. The modules are connected with each other to provide various shapes, such as a robot arm, a spider robot, or a structure. The module has a mechanical connection mechanism that provides a connection with other modules. A self-locking system is provided for locking the modules after connection so that the modules remain stationary under load.Each of the module units has a higher degree of freedom to impart movement of the robot in multipledirections. The high degree of freedom provided by the module is highly accurate with respect to movement and connection. The module units can be configured in any shape within less time.

[0034] FIG. 1 illustrates a module used in a self-reconfiguring robot in accordance with an embodiment of the present invention. The module comprises a top plate 101 and a base 102 connected with a main support 103. The main support 103 acts as a sliding mechanism. The module 100 comprises a plurality of linear actuators, four linear actuators: a first linear actuator 104, a second linear actuator 105, a third linear actuator 106 and a fourth linear actuator 107. The first linear actuator 104, the second linear actuator 105 and the third linear actuator 106 connects the top plate 101 and the base 102 of the module 100, and control the inclination, direction of inclination, and height of the module 100. The fourth linear actuator 107 connects the base 102 with the sliding mechanism of the main support 103 and is responsible for the transition of the top part horizontally. The fourth linear actuator 107 is inclined at an angle so as to connect the base 102 with the main support 103. The first linear actuator 104, the second linear actuator 105 and the third linear actuator 106 are of identical design and have the same stroke lengths for allowing a smooth transition between states. The fourth linear actuator 107 is similar in design to other actuators but has a different stroke length than the first 104, the second 105, and the third linear actuator 106. The top plate 101 has a connection mechanism 108 that is used for connecting the top plate 101 of the module 100 with the base of other module. The connection mechanism 108 comprises a plurality of blades that can wind or unwind around a central core.

[0035] The top plate 101 and the connection mechanism 108 on the top plate that can hold, release or rotate the next module are driven by a stepper and a servo motor. After receiving the combined movement from the first linear actuator 104, the second linear actuator 105, the third linear actuator 106, and the fourth linear actuator 107, the top plate moves. The base 102 of the module 100 provides adequate room for the blades of the connection mechanism of the other module to enter and attach.The base 102 also contains a space for housing control circuit components and a power supply. The base 102 also represents a movement reference point.

[0036] The components of the module 100 are designed and connected in such a manner that forces operating on all of the components are distributed. Each component connecting the top plate 101 and the base part 102 holds some forces in a specific direction that aids in understanding how the motion will be in the optimization process.

[0037] The movement of the first 104, the second 105, the third 106, and the fourth linear actuator 107 helps in enabling four degree of freedom to the module. The movement of the first 104, the second 105, and the third linear actuator (vertical linear actuator) 106 cause translation along Z-axis. Translation along X-Z plane is caused by the fourth linear actuator (inclined linear actuator) 107. The vertical linear actuators (first, second, and third linear actuators) are responsible for inclination about X or Y axis. The inclination and the point of the inclination represent two degrees of freedom. The module rotates about Z-axis due to the rotation of the blades of the connection of the connected module. The translation, rotation, and inclination of the module having five degree of freedom is able to orient the modules of the self-configuring robot in different states and shapes illustrated in FIG. 2.

[0038] FIG. 3 illustrates different parts of the module that interact with each other to impart motion to the module in accordance with an embodiment of the present invention. The working of the module is based on three mechanisms: a mechanical connection mechanism 301; a sliding mechanism 302 and a linear actuator mechanism 303. The mechanical connection mechanism 301 is used to link the modules together and make them act as one body. The connection mechanism 301 permits the rotational movement of the linked module and adds another degree of freedom to the movement of the robot. The sliding mechanism 302 is used to maintain stability and deals with the torsional forces and forces on the horizontal plane. The linear actuator mechanism 303 is used to create motion in a straight line and is based on push-pull movement. The modules also comprise a housing 304 for acontroller, batteries, electrical and control components. The module also comprises an attachment place 305 for the blades of the next module to be joined and fitted. The vertical linear actuators control the module’s inclination and height. The fourth linear actuator installed diagonally controls the movement in the horizontal plane. The fourth or inclined linear actuator is 60 degree apart from the first linear actuator and the second linear actuator; and is in the same plane as the third linear actuator.

[0039] Referring to FIG. 4 and FIG. 5, the linear actuator 400 converts the rotational motion of the electrical motor to linear motion through two parts: a gear that has rotary motion and a lead screw that has linear motion. The linear actuator 400 comprises a motor 401, a motor handle 402, a driver gear 403, a driven gear 404, an encoder disk 407, a bearing cover 409, an encoder sensor 415. The motor 401 is the most important component of the linear actuator 400 because it is responsible for motion. The motion is generated by a 12-volt DC geared motor 401 that interacts with various components of the linear actuator 400 through a shaft. The shaft of the motor has a driver gear 403, as the motor 401 rotates the shaft rotates the driver gear 403. The driver gear 403 is connected to the driven gear 404, which transfers the rotation motion to the driven gear 404. The driven gear 404 and the driver gear 403 connect the motor 401 to a nut, allowing the motion to be transferred to a power screw 413. The rotary motion is transferred from the driver gear 403 to the driven gear 404 and then to the nut 406. The driven gear 404 is designed to accommodate the nut 406 that is attached to the driven gear 404. Both the driven gear 404 and the nut 406 has the same speed and torque. The primary function of the power screw 413 is to transform rotary motion into linear motion. The nut 406 transmits the rotating motion to the power screw 413. The power screw 413 is characterized by the large load carrying capability and is self-locking. The power screw 413 is coupled to a universal joint (405) and can move, making a linear motion.

[0040] The other component of the linear actuator is a first support structure 408 which is a collared hole shaft. The first support structure 408 is attached to the driven gear 404 from the top by a pin andslot, and the collar is set between two thrust bearings (410, 411) from the bottom. The thrust bearings (410, 411) are encased in the center of the second support structure 412. The second support structure 412 is an outer hard casing that provides provision for the support of the motor 401 and the first support structure 408. The first support structure 408 translates rotational motion and transmits vertical forces to the thrust bearings (410, 411) to help smooth motion, resist axial forces and maintaining the position. The encoder sensor 415 in the linear actuator is an electro-mechanical device that provides information about the position. The encoder sensor 415 counts the number of revolutions (or parts of revolutions) of the power screw 413 and computes the linear traveled distance. The second support structure 412 has a first universal joint 405 that connects to the base of the module and a second universal joint 414 that connects to the top plate of the module. The first 405 and the second universal joints 414 allow rotation about two axes and are used to translate vertical motion. The top of the module may tilt smoothly in any direction due to the universal joints of the linear actuator connecting the linear actuators with the top plate and base of the module. The distance between the driven gear 404 and the driver gear 403 can be adjusted by using a plurality of adjusting screws. The adjusting screws comprises four screws, in which one screw fasten a handle 402 of the motor to the second support structure 412 and other screws are used to modify the distance between the driver gear 403 and the driven gear 404.

[0041] Referring to FIG. 6 and Fig. 7, the sliding mechanism contains three parts: a cylinder 501, a slider 502, and a support 503. The bottom and top sections of the cylinder 501 and the slider 502 are attached with a rotational joint at the end to allow tilting. The support 503 is utilized to strengthen and stabilize the mechanism. The cylinder 501 contains four internal slots to prevent the slider 502 from slipping. Horizontal forces are resisted by the support 503 and the inclined linear actuator 107. This mechanism allows the slider 502 to slide freely in the vertical direction while resisting horizontal and torsional forces, making it a pillar and main support for the module's overall design. The linearactuator for horizontal motion is connected to the cylinder by a universal joint, which pushes / pulls the cylinder and so moves the top of the module.

[0042] FIG.8 illustrates an exploded view of the base 102 of the module in accordance with an embodiment of the present invention. The base 102 of the module provides adequate room for the blades of the other module to enter and be fixed. The base also contains a place for control circuit components and a power supply, as well as representing a movement reference. The base consists of three main parts that are fastened by six machine screws: a bottom plate 802, a housing 803 and a connection home 804. The three parts are stacked one above the other and fitted through using six screws. The bottom plate 802 is used to attach the linear actuators to the base. The housing 803 is used to accommodate the control circuit component and the power supply. The connection home 804 is for accommodating the blades of another module when the other module is attached to the base of the module. The wall of the connection home is a teethed structure that fixes the blades of other module and prevents slippage during the motion.

[0043] Referring to FIG. 9, 10 and 11, the connection mechanism on the top plate of the module is shown. The main function of the mechanical connection mechanism are: connecting the modules to make them act as one body; to rotate the next module when the two modules are connected. The connection mechanism comprises a plurality of blades 821, connecting rods 822, a rods collector 823, a main disk 825, a blade fixer 826, a clutch 827, a hook fastener 828, a loop fastener 829, a driven gear 836, a thrust bearing 832.

[0044] The connection mechanism connects two modules. When the two modules need to be connected, the blades of the first module open inside the housing 804 present at the base of the second module. The main component of the connection mechanism is a stepper motor 838 that is responsible for opening, holding, and closing the blades 821 as well as rotating the mechanism components. The second component is a servo motor 839, which is responsible for controlling a clutch system (825,830) and converting the mechanism's function from (open, hold, and close) the blades 821 to rotating the mechanism components to rotating the next module. The mechanism is controlled by a single actuator that may adjust the condition of all blades (open, close, or hold). When connecting with another module, it can handle an offset of up to 1cm between the center lines of the two modules, and 0.5cm along the center line due to a chamfer at the base of another module.

[0045] During the working of the robot, the blades are kept opening due to the holding torque of the stepper motor unless the user demanded to finish the connection between modules. The connection mechanism utilizes a Gyroscope to adjust the second module to have the same radial reference by rotating the next module. Once the connection has been made, the mechanism can make self-locking, so that the mechanism is able to handle the load produced from the connected model. To maintain the size of the robot, a connection between modules is needed. The mechanism is able to connect or disconnect the modules to have the required size for a specific function.

[0046] When the blades of the first module open inside the connection home 804 at the base of the second module is stuck between the main disk 825 and the blades 821, and the modules are connected. Referring to Figure 12, the wall 855 of the connection home 804 at the base of the module is a teethed surface 856 that prevents sliding between the blades 821 and the connection home 804. As a result, when the first module's blades rotate, the second module will rotate at the same velocity. The opening and closing of the blades occur when there is a relative angular velocity between the rods collector and the main disk. The direction of the relative angular velocity determines whether it will be going to open or close. If the disk rotates counterclockwise, the blades open, and when the disk rotates clockwise, the blades close.

[0047] The main disk 825 is connected with the top plate 833 by two bearings 832 which allow the main disk to rotate smoothly under loads and keep the right orientation of the main disk. The bearing cover 831 is connected with the top plate 833 by four machine screws, it prevents the thrust bearing832 from moving in the vertical direction. The stepper motor 838 rotates the disk 825 through gears(836, 837), six machine screws fix the main disk 825 with the blades 821 and the blades fixer 826. The first clutch part 827 fixed to rotate with the blades fixer 826 but it can move vertically.

[0048] Referring to FIG. 13, the clutch system is used to control the rods collector 823 motion, as it is attached to the top plate 833 of the module, which is stationary, or the blades fixer 826, which rotates with the main disk 825. A servo motor 839 controls the clutch (827, 830), which moves three bar mechanisms (main arm 834, servo motor arm 840, and auxiliary arm 841) upward to link the second clutch component 830 or disconnect it.

[0049] A three -bar mechanism amplifies the resultant force to push the second clutch part 830. A cylindrical body at the top side of the second Clutch part 830 is employed to keep the distance between the second Clutch part 830 and the first Clutch part 827 constant. In order to reduce friction between parts, the cylindrical body's end shape is preferably a selected shape similar to a cone.

[0050] Two lineal fabric strips: Hook-and-loop fasteners (828, 829) are used to attach various clutch system pieces. Smaller loops are used in the first clutch part (827), whereas tiny hooks are used in the second clutch part (830). When the two parts are pressed together, the hooks catch in the loops, and the two parts temporarily connect or bind together. Figure 13 illustrates rod collector 823 connected with the second clutch part 830 and rod collector 823 connected with the first clutch part 827.

[0051] In the first case, the spring 832 forces the first clutch part 827 to connect with the rod collector 823, the connection, in this case, is through Hook-and-loop fasteners (828, 829), causing the rods collector 823 to rotate at the same speed as the main disk 825, i.e., the state of the blades 801 will remain unchanged and they will rotate with the disk 825 and rods collector 823. In the second case, the servo motor 839 operates the three -bar mechanism that forces the first clutch part 827 upward, disconnecting the first clutch part 827 from the rods collector 823 and connecting the second clutchpart 830 to the rods collector 823 as it goes up. This causes the rod collector 823 to become stationary, causing the state of the blades 801 to change as a result of the relative angular velocity.

[0052] In an embodiment of the present invention, each module of the robot provides five degree of freedom: inclination, point of inclination, vertical and horizontal transitions, and rotation on the vertical axes. The five points are measured at the center of the out surface of the main disk and the center of the lower surface for the base.

[0053] The definition of the position parameters of the module is as follows:H: The vertical distance between the center of the lower surface of the base and the center of the top surface of the disk (module height).D: The horizontal distance between the center of the lower surface of the base and the center of the upper surface of the disk (disk displacement).0: The rotation of the disk around its axis (angle of disk rotation).0: The rotation of a horizontal inclination about an axis coinciding with the horizontal plane (horizontal inclination). a: The rotation of an axis perpendicular to the inclination axis about the base axis (point of inclination).

[0054] In an embodiment, a plurality of independent module units are connected with each other to create a self-configuring robot. The universal self-assembling modular robot is capable of autonomously changing shape and size in order to carry out multiple tasks efficiently and effectively, i.e., it can deal with unexpected conditions and replace some other robots. In an example, the modules are connected to build an arm robot and a spider robot, as illustrated in FIG. 15

[0055] The conditional language used herein, such as, among others, "can," "may," "might," "may," “e.g.,” and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodimentsdo not include, certain features, elements and / or steps. Thus, such conditional language is not generally intended to imply that features, elements and / or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without other input or prompting, whether these features, elements and / or steps are included or are to be performed in any particular embodiment. The terms “comprising,” “including,” “having,” and the like are synonymous and are used inclusively, in an open-ended fashion, and do not exclude additional elements, features, acts, operations, and so forth. Also, the term “or” is used in its inclusive sense (and not in its exclusive sense) so that when used, for example, to connect a list of elements, the term “or” means one, some, or all of the elements in the list.

[0056] Disjunctive language such as the phrase “at least one of X, Y, Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to present that an item, term, etc., may be either X, Y, or Z, or any combination thereof (e.g., X, Y, and / or Z). Thus, such disjunctive language is not generally intended to, and should not, imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to each be present.

[0057] While the above detailed description has shown, described, and pointed out novel features as applied to various embodiments, it can be understood that various omissions, substitutions, and changes in the form and details of the devices or algorithms illustrated can be made without departing from the spirit of the disclosure. As can be recognized, certain embodiments described herein can be embodied within a form that does not provide all of the features and benefits set forth herein, as some features can be used or practiced separately from others.

Claims

CLAIMS1. A self-configuring robot comprising a plurality of module units to impart linear and rotational movement to the robot, said module unit comprising: a top plate and a base; a main support connecting center of the top plate and center of the base, the main support comprising a sliding mechanism; a first linear actuator, a second linear actuator and a third linear actuator attached to the top plate at a first end and the base at a second end; a fourth linear actuator connects the base of the module with the sliding mechanism on the main support; a connection mechanism at the top plate to connect the top plate of the module with base of a second module.

2. The module of claim 1, wherein the base comprises a housing for accommodating blades at the top plate of the second module.

3. The module of claim 1, wherein the module provides five degree of freedom to the selfconfiguring robot: translation along X-Z plane; inclination and point of inclination about X or Y axis; translation along X-Y plane; rotation about Z-axis.

4. The module of claim 1, wherein the first linear actuator, the second linear actuator and the third linear actuator are at 120 degree angle to each other.

5. The module of claim 1, wherein the fourth linear actuator is at 60 degree apart from the first linear actuator and the second linear actuator; as is in same plane of the third linear actuator.

6. The module of claim 1, wherein the first linear actuator, the second linear actuator, the third linear actuator and the fourth linear actuator comprises: a motor to generate rotary motion;a driven gear and a driver gear, the rotary motion is transferred form the driver gear to the driven gear and then to the nut; a power screw connected to the nut, the nut transmits the rotary motion to the power screw, said power screw transform the rotary motion into linear motion; a collared hole shaft attached to the driven gear from the top by a pin and slot, the collar is set between two thrust bearing from the bottom; a pair of universal joints at two ends of the linear actuator that connects the two ends of linear actuator with the top plate and the base of the module.

7. The module of claim 1, wherein the connection mechanism comprises a plurality of blades that winds or unwinds around a central core.

8. The module of claim 1, wherein the connection mechanism comprises: a main disk, a rod collector; a stepper motor for opening, closing and holding a plurality of blades and rotating the mechanism components; a servo motor for controlling a clutch system and to convert function of the plurality of blades to rotating the mechanism components to rotating the second module; wherein provides a relative angular velocity between the rod collector and the main disk; wherein the plurality of blades open when the main disk rotates counterclockwise and the plurality of blade closes when the main disk rotates clockwise.

9. The module of claim 8, wherein the clutch system comprises: a first clutch component; a second clutch component; a cylindrical body to separate the first clutch component and the second clutch component;one or more hook and loop fasteners in shape of lineal fabric strips to attach the clutch system pieces, said loops are used in the first clutch component and said hooks are used in the second clutch component; wherein when the first clutch component and the second clutch component are pressed, the hooks catch up in the loops and gets connected; a three bar mechanism comprising a main arm, a servo motor arm and an auxiliary arm; wherein the servo motor controls the three bar mechanism by moving the three bar mechanism in upward direction to link the second clutch component with the rod collector and in downward direction to link the first component with the rod collector.

10. The module of claim 8, wherein when the rod collector is connected to the first clutch part, the rod collector rotate at the same speed as the main disk and the state of the plurality of blades remain unchanged, and the plurality of blades rotate with the main disk and the rod collector.

11. The module of claim 8, wherein when the rod collector is connected to the second clutch component, the rod collector gets stationary and the state of the plurality of blades changes due to the relative angular velocity.

12. The module of claim 1, wherein the sliding mechanism comprises: a cylinder having a rotational joint to connect the cylinder with the fourth linear actuator; a slider having a joint at the top to connect the slider with the fourth linear actuator; a support to stabilize the sliding mechanism; wherein the fourth linear actuator pushes or pull the cylinder and moves the top plate of module in different orientation.

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