Modlab The Modular Robotics Laboratory at the University of Pennsylvania

Modlab
ModLock
ModLock
Connection mechanisms are critical to modular reconfigurable systems. The ModLock manual connection system is both fast to attach/detach and strong. This low cost, low profile connection system has been demonstrated on a variety of robot configurations including legged walkers, flying quadrotors and wheeled robots.

Introduction

One of the key features of a modular reconfigurable robot is its ability to adapt its morphology to the task required.
While the modular robotics community has mostly focused on this feature by furthering self-reconfiguration mechanisms to enable the robot to reconfigure itself, we believe there is also value in fast manual reconfiguration to make modular robots practical and useful in the field with humans present.

Hardware

Specification Value
Length 60 mm
Width 60mm
Thickness (Male + Female) 7.6 (6 + 1.6) mm
Connection Time < 7 s
Disconnection Time < 3.25
Max Tension 2.2 kN
Max Bending 39.5 Nm
Max Torsion 15 Nm
Weight 80 g

 

Movies

Publications
[ModLock.pdf]

  • [DOI] J. Davey, J. Sastra, M. Piccoli, and M. Yim, “Modlock: a manual connector for reconfigurable modular robots,” in Intelligent robots and systems (iros), 2012 ieee/rsj international conference on, Vilamoura, Algarve, Portugal, 2012, pp. 3217-3222.
    [Bibtex]
    @INPROCEEDINGS{JD:JS:MP:MY:12,
    author={Davey, J. and Sastra, J. and Piccoli, M. and Yim, M.},
    booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
    title={ModLock: A manual connector for reconfigurable modular robots},
    year={2012},
    address={Vilamoura, Algarve, Portugal},
    month={October 7-12},
    pages={3217-3222},
    keywords={helicopters;mobile robots;reconfigurable architectures;ModLock manual connection system;flying quadrotors;legged walkers;low profile connection system;manual connector;modular reconfigurable systems;reconfigurable modular robots;robot configurations;wheeled robots;Assembly;Connectors;Fasteners;Mobile robots;Steel;Torque},
    doi={10.1109/IROS.2012.6386190},
    ISSN={2153-0858},
    url={modlabupenn.org/wp-content/uploads/ModLock.pdf},
    }

 

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