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Connectors for self-reconfiguring robots

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1 Author(s)
Nilsson, M. ; Swedish Inst. of Comput. Sci., Kista, Sweden

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.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:7 ,  Issue: 4 )

Date of Publication:

Dec. 2002

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