NDLI: Design, principles, and testing of a latching modular robot connector

Content Provider	IEEE Xplore Digital Library
Author	Eckenstein, N. Yim, M.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA (Eckenstein, N.; Yim, M.)
Abstract	Connection and disconnection occur often in modular robotics. Furthermore, position errors increase in chain-style modular robots as chains get longer. This paper presents a passive (unactuated) compliant two-layer latching mechanism compatible with planar docking mechanisms such as the X-Face, with design considerations and important design parameters empirically identified. Design parameters such as alignment, face curvature and overhang width are shown to have unintuitive effects on the behavior and strength of the connectors. The latch mechanism has a bonding ratio (force of the bond over force required to engage bond) in the range of 20 to 76, depending on the design parameters used. The paper also presents a reconfiguration control sequence that combines the module actuation forces with the connectors' natural forces to increase the reliability of the connection process and reduce the maximum force required. In addition, several types of reconfiguration are performed, including reconfiguration with a 12 module long chain that demonstrates the connectors' robustness to error.
Starting Page	2846
Ending Page	2851
File Size	5264874
Page Count	6
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942953
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Connectors Force Prototypes Face Shape Latches Neck
Content Type	Text
Resource Type	Article

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