Abstract
The ability to reconfigure automation equipment will reduce the manufacturing costs of obsolesence, training and maintenance while allowing for a faster response to changes in the product line. A modular philosophy will give the user these advantages, but only if based on a common connection standard.
A mechanical connection was selected for the UT Modular Robotics Testbed and used in the designs of four robot joint modules and nine robot link modules. The standard was also used for assecories, such as the testand, loading fixtures and endeffectors.
Three years of experiments with this connection standard are reviewed, and used as the basis for new connection designs. Experiments using multiple modules assembled as dextrous robots, as well as experiments focusing on the connection itself, will be described.
Goals for future connection standards include designs with upward compatibility, combinations of both mechanical and electrical fittings, and robot triendly constraints that allow for automated or remote assembly of modular robots.
Analysis on Self-Morphing Process of Self-Reconfigurable Modular Robot