A Shared Electrical-Pneumatic and Reversible Locking Intermodule Connector for Modular Robots

With the increasing popularity of modular robotics, there has been an increasing need for reliable and strong connections between module units. This paper introduces two novel connectors, PAC (Power, Air, Communication) and MagLink (Magnetic Link), designed to advance the interconnectivity of modular robots and actuators. The PAC connector centralizes air, power, and communication in a single housing that simplifies integration and minimizes wiring complexities. Meanwhile, the MagLink connector employs a reversible, low power magnetic locking mechanism, ensuring robust and secure connections between robotic components. Both connectors can be integrated in a single compact unit. We characterized PAC connector in terms of maximum pressure, air flow, and sealing capabilities. MagLink was characterized in terms of connection strength, magnetic field/attractive forces to connect, alignment capture space, and power consumption. MagLink advantages are its low power consumption and 13-fold increase in strength compared to the regular magnetic connection. Together, PAC and MagLink herald a new opportunity in modular robotics, offering high force-to-weight ratio ($6.4 \mathrm{~N} / \mathrm{g}$), high strength-topower consumption ratio, reliable electrical connection, and pressure handling capabilities of at least 50 psi (0.34 MPa) packaged in a compact design that can be used across a wide range of robotic configurations. This research presents a step forward toward efficient electro-mechanical-pneumatic connectors for self-reconfigurable modular robots, promising practical solutions for a broad range of modular robotic applications.