Reconfigurable modular joint and robots produced therefrom

Details Reconfigurable modular joint and robots produced therefrom Reconfigurable modular joint and robots produced therefrom

1998-07-01

2000-07-04

Salata, Jonathan

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

901 23, B25J 918

Patent

active

06084373&

ABSTRACT:
The present invention provides a reconfigurable modular drive joint that can be used as the basis for building and configuring robotic and automated systems as an interconnected network of individual nodes, with each node representing a single modular joint. Each modular joint can be quickly set up in either a roll, pitch or yaw configuration. A large number of different robot structures can be built using a small number of the modular joints in any of these three configurations. The modules are equipped with quick-connect mechanisms so that a new robot structure can be assembled in a few minutes. A robot or other automated system assembled from such modular joints is a true reconfigurable and modular system. The control system is decentralized. Each modular joint is provided with its own built-in control system and electronics. The modular joints each include a motor and associated sensors. An embedded control system including a power amplifier for the motor, a sensor interface, microprocessor, and communication circuitry are provided. The only external connections to each module is a communication bus between the modules and the host computer and a power supply bus.

REFERENCES:
patent: 4975856 (1990-12-01), Vold et al.
patent: 4984959 (1991-01-01), Kato
patent: 5293107 (1994-03-01), Akeel
patent: 5428713 (1995-06-01), Matsumaru
patent: 5523662 (1996-06-01), Goldenberg et al.
patent: 5672924 (1997-09-01), Wallace et al.

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