Robots with reconfigurable joints

Citation

Rigelsford, J. (2003), "Robots with reconfigurable joints", Industrial Robot, Vol. 30 No. 3. https://doi.org/10.1108/ir.2003.04930cad.010

Robots with reconfigurable joints

Keywords: Robots, Robotics, Patent

Robots with reconfigurable joints

Applicant: Engineering Services Inc., CanadaPatent number: US6,084,373Publication date: 4 July 2000Title: Reconfigurable modular joint and robots produced therefrom

This 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 modular joints. Such a system would allow for the addition, removal and rapid integration of the reconfigurable modular joints to suit different applications.

Each modular joint comprises a housing containing a motor and associated sensors; an axis of rotation that can be quickly set up in either a roll, pitch or yaw configuration; and opposed ends equipped with quick-connect mechanisms. This enables a new robot structure to be assembled in a few minutes. Each modular joint contains its own built-in control system and electronics and includes an embedded control system comprising a power amplifier for the motor; a sensor interface; a microprocessor; and communication circuitry. The only external connection to each module is a communication bus between the modules and the host computer and a power supply bus.