Reconfigurable modular joint and robots produced therefrom
US6084373A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jul 1, 1998 |
| Grant date | Jul 4, 2000 |
| Priority date | — |
| Expiry date | Jul 1, 2018 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/37103
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.