Modular Robot Coupling With Orientation Sensing for Fast Reconfiguration
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing modular reconfigurable robots face challenges in ease of use and efficiency due to complex mathematical modeling and programming requirements, making frequent reconfiguration impractical for non-expert users, especially in small and medium-sized enterprises, where task definitions vary frequently and maintenance intervals cause production line inefficiencies.
Innovation Solution
A modular configurable robot system with a master/slave software framework and custom electronic slave devices enables automatic on-the-fly robot topology recognition, kinematic and dynamic model generation, and controller tuning, facilitating quick reconfiguration and operation through an electromechanical interface that automatically detects module orientations and retrieves necessary parameters from a centralized database.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual mathematical modeling and programming are used for robot reconfiguration, then control precision is maintained, but reconfiguration time and complexity increase significantly
Solution Approach 1:
The robot system performs self-modeling and self-programming during reconfiguration. The controller automatically generates mathematical models and control parameters based on the physical configuration of modules, eliminating the need for manual modeling by users while maintaining precision.
Solution Approach 2:
Manual mathematical modeling and programming operations are replaced by an automated electronic system. The controller uses sensor data and module identification codes to automatically generate control models, substituting human computational work with electronic processing.
2Measurement precision
If complex mathematical modeling and programming are required, then control accuracy is maintained, but ease of operation deteriorates
Solution Approach 1:
The system automatically performs the complex tasks of mathematical modeling and programming generation. Users only need to physically configure modules, while the controller handles the complex computational tasks autonomously based on module sensors and identification data.
Solution Approach 2:
The controller acts as an intermediary that translates simple physical module configurations into complex mathematical models and control programs. This intermediary layer shields users from complexity while maintaining control accuracy through automated model generation.
3Ease of repair
If modular components are made easily replaceable, then ease of repair improves, but structural coupling completeness may deteriorate
Solution Approach 1:
The coupling mechanism serves multiple functions: mechanical connection, electrical connection, and automatic identification. This universal interface ensures that easy replacement does not compromise coupling completeness, as all necessary connections are integrated into a single standardized interface.
Solution Approach 2:
Mechanical and electrical coupling functions are merged into a single integrated coupling mechanism. This ensures that when modules are easily replaced mechanically, electrical connections are simultaneously maintained, preserving system reliability and coupling completeness.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A modular configurable robot, comprising robot modules comprising a coupling mechanism including an electrical coupling member comprising a network communication signal connection, an arrangement forming upon coupling an orientation signal, an integrated circuit comprising a microcontroller circuit with unique identification code and I/O ports coupled to said electrical coupling to receive orientation electrical signal, a communication slave module comprising ports and registers storing state values of the ports, one port pre-designated as input, the ports being open or closed depending on the port state, the robot comprising a master communication module forming with said slave modules a master slave communication network topology, a server hosting a database of robot module parameters, accessible by unique identification code, said master module retrieving from said communication slave module the unique identification code, and from the database robot module parameters, and from said microcontroller circuit said information of a relative orientation.