发明名称 |
RECONFIGURABLE MODULAR JOINT AND ROBOTS PRODUCED THEREFROM |
摘要 |
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 are a communication bus between the modules and the host computer and a power supply bus.
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申请公布号 |
CA2294712(C) |
申请公布日期 |
2008.01.08 |
申请号 |
CA19982294712 |
申请日期 |
1998.06.30 |
申请人 |
ENGINEERING SERVICES INC. |
发明人 |
KIRCANSKI, NENAD;KIRCANSKI, MANJA;SESHAN, ANANTH;GOLDENBERG, ANDREW A. |
分类号 |
B25J17/00;B25J9/08 |
主分类号 |
B25J17/00 |
代理机构 |
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地址 |
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