Self-Aligning Modular Robot Coupling Mechanism
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Solution Overview
Problem
Modular, self-reconfigurable robot systems with tetrahedral frames require high complexity and control effort due to intricate alignment and connection mechanisms, especially when adding or reconfiguring modules.
Innovation Solution
Incorporating alignment devices that interact with rotatably mounted connecting elements on frame bars for parallel longitudinal alignment, allowing for independent module control and simplified coupling, with features like ball joints and snap connections for reduced complexity and enhanced kinematic freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If detachable connections are provided between adjacent frame members of individual modules, then the modules can be controlled independently and reconfigured flexibly, but the complexity and control effort for alignment and connection increases significantly
Solution Approach 1:
The connecting elements are designed with integrated alignment devices that automatically align themselves when modules are brought into proximity. The connecting elements with rotatable mounting and alignment devices perform the alignment function autonomously without requiring external control systems, reducing control effort while maintaining reconfigurability
Solution Approach 2:
Alignment devices act as intermediary mechanisms between the connecting elements of adjacent modules. These alignment devices with connecting linkages serve as mediators that facilitate the connection process by automatically establishing proper alignment, thereby reducing the complexity of the overall coupling mechanism
2Reliability
If multiple connecting elements are used for module connection, then reliable connections can be established, but the control effort for alignment increases
Solution Approach 1:
The connecting elements with rotatable mounting automatically perform their own alignment through the alignment devices when modules are brought into connection proximity. This self-aligning capability maintains connection reliability through multiple connecting elements while eliminating the need for external control effort for alignment
Solution Approach 2:
The alignment devices are pre-configured on the connecting elements with rotatable mounting, so that alignment is automatically achieved as soon as modules are brought into proximity. This preliminary arrangement of alignment capability ensures reliable connections without requiring active control during the connection process
Data Source
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AI summary
The invention relates to a modular, self-reconfigurable robot system (100) having a plurality of individual modules (1) connected to one another, which each have a tetrahedron-shaped support frame (2) having frame joints (5) as nodes (4) and having longitudinally adjustable support struts (3) adjoining the nodes (4), and having a plurality of releasable connections provided between the individual modules (1) and consisting of a plurality of co-operating connecting element (6) on the respective individual modules (1). In order to reduce the control costs on the robot system (100), according to the invention the releasable connections are provided between the support struts (3), which adjoin one another, of the respective individual modules (1), wherein at least one individual module (1) has at least one aligning device (7) which co-operates having at least two connecting elements (6) for alignment thereof, each of said elements being rotatably mounted on one support strut (3) of the support struts (3) adjoining a common node (4).