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Design of the Connection Mechanism for a Novel Selfreconfigurable Modular Robot
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JIANG Dongsheng，GUAN Enguang，FU Zhuang，ZHAO Yanzheng
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(Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China)
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Abstract The lattice selfreconfigurable modular robot has attracted more and more attention for its excellent flexibility in connection and separation movements. A novel selfreconfigurable robot module, called MLattice, was presented. A genderless pinslotbased connection mechanism was introduced. The static and dynamic experiments indicate that the selfreconfiguration connection can be accomplished by the mechanism smoothly and rapidly. The time cost of the connecting movement is approximately 2 seconds and the strength of connection between the two mechanisms is capable of over 50 N axial load.
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Received: 10 December 2009
Published: 31 August 2010
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