Title :
Connectors for self-reconfiguring robots
Author_Institution :
Swedish Inst. of Comput. Sci., Kista, Sweden
Abstract :
Connectors for self-reconfiguring robots are difficult to design because of the wide range of requirements. We describe the DRAGON connector, whose most distinctive features are its ability to self-align and its strength-to-weight ratio. It weighs 170 g, but holds over 70-kg load. It is able to self-align ±15 mm (O/5) lateral offsets and ±45° directional and rotational offsets. It allows autonomous docking and reconfiguration in a fraction of a second, without any complex control.
Keywords :
robots; DRAGON connector; autonomous docking; intelligent robots; self-reconfiguring robots; Computer numerical control; Connectors; Geometry; Intelligent robots; Manufacturing; Mechanical factors; Orbital robotics; Production; Protection; Robustness;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2002.806225
