3 research outputs found
LaMMos - Latching Mechanism based on Motorized-screw for Reconfigurable Robots and Exoskeleton Suits
Reconfigurable robots refer to a category of robots that their components
(individual joints and links) can be assembled in multiple configurations and
geometries. Most of existing latching mechanisms are based on physical tools
such as hooks, cages or magnets, which limit the payload capacity. Therefore,
robots re- quire a latching mechanism which can help to reconfigure itself
without sacrificing the payload capability. This paper presents a latching
mechanism based on the flexible screw attaching principle. In which, actuators
are used to move the robot links and joints while connecting them with a
motorized-screw and dis- connecting them by unfastening the screw. The brackets
used in our mechanism configuration helps to hold maximum force up to 5000N.
The LaMMos - Latching Mechanism based on Motorized- screw has been applied to
the DeWaLoP - Developing Water Loss Prevention in-pipe robot. It helps the
robot to shrink its body to crawl into the pipe with minimum diameter, by
recon- figuring the leg positions. And it helps to recover the legs positions
to original status once the robot is inside the pipe. Also, LaMMos add
stiffness to the robot legs by dynamically integrate them to the structure.
Additionally, we present an application of the LaMMos mechanism to exoskeleton
suits, for easing the mo- tors from the joints when carrying heavy weights for
long periods of time. This mechanism offers many interesting opportunities for
robotics research in terms of functionality, pay- load and size.Comment: 14 pages, 15 figure