A Sequential Hermaphrodite Coupling Mechanism for Lattice-based Modular Robots

TL;DR

This paper introduces a novel shape-matching coupling mechanism for lattice-based modular robots that allows controlled, sequential, and reversible coupling and decoupling, suitable for large-scale construction in extreme environments.

Contribution

It presents a new mechanical coupling mechanism enabling controlled, sequential, and reversible coupling between modules with specific state transitions, addressing complex design requirements.

Findings

Mechanism allows controlled, sequential state transitions between male and female.

Enables single-sided coupling and decoupling from either side.

Applicable to various modular robot systems and tool changers.

Abstract

Lattice-based modular robot systems are envisioned for large-scale construction in extreme environments, such as space. Coupling mechanisms for heterogeneous structural modules should meet all of the following requirements: single-sided coupling and decoupling, flat surfaces when uncoupled, and coupling to passive coupling interfaces as well as coupling behavior between coupling mechanisms. The design requirements for such a coupling mechanism are complex. We propose a novel shape-matching mechanical coupling mechanism that satisfies these design requirements. This mechanism enables controlled, sequential transitions between male and female states. When uncoupled, all mechanisms are in the female state. To enable single-sided coupling, one side of the mechanisms switches to the male state during the coupling process. Single-sided decoupling is possible not only from the male side but also from the female side by forcibly switching the opposite mechanism's male state to the female state. This coupling mechanism can be applied to various modular robot systems and robot arm tool changers.