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Designing and Validating a Self-Aligning Tool Changer for Modular Reconfigurable Manipulation Robots

Mahfudz Maskur, Takuya Kiyokawa, Kensuke Harada

Abstract

Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a misalignment-tolerant tool-changing system. The hardware features a motor-driven coupling utilizing passive self-alignment geometries, specifically chamfered receptacles and triangular lead-in guides, to robustly compensate for angular and lateral misalignments without complex force sensors. To make this autonomous exchange practically feasible, the mechanism is complemented by a compact rotating tool exchange station for efficient module storage. Real-world autonomous tool-picking experiments validate that the self-aligning features successfully absorb execution errors, enabling highly reliable robotic tool reconfiguration.

Designing and Validating a Self-Aligning Tool Changer for Modular Reconfigurable Manipulation Robots

Abstract

Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a misalignment-tolerant tool-changing system. The hardware features a motor-driven coupling utilizing passive self-alignment geometries, specifically chamfered receptacles and triangular lead-in guides, to robustly compensate for angular and lateral misalignments without complex force sensors. To make this autonomous exchange practically feasible, the mechanism is complemented by a compact rotating tool exchange station for efficient module storage. Real-world autonomous tool-picking experiments validate that the self-aligning features successfully absorb execution errors, enabling highly reliable robotic tool reconfiguration.
Paper Structure (13 sections, 13 figures)

This paper contains 13 sections, 13 figures.

Table of Contents

  1. Introduction
  2. Related Work
  3. Robotic Coupling and Tool Changing Mechanisms
  4. Reconfiguration Planning in Modular Systems
  5. Proposed Method
  6. Coupling Mechanism
  7. Rotating Tool Exchange Station
  8. Experimental Evaluation
  9. Overview
  10. Angular Misalignment Tolerance
  11. Lateral Misalignment Tolerance
  12. Tool Changing Experiment
  13. Conclusion

Figures (13)

  • Figure 1: CAD representation of the reconfigurable robot with integrated module changer and rotating table.
  • Figure 2: Exploded CAD representation of the motor-driven coupling with component table indicating part numbers, quantities, and names.
  • Figure 3: Comparison between the CAD representation and the 3D printed, motor-driven coupling.
  • Figure 4: Cross-sectional illustration of the coupling showing the lock-pin positions in the unlocked and locked states.
  • Figure 5: Exploded CAD representation of the 3D printed rotating tool exchange station with component table indicating part numbers, quantities, and names.
  • ...and 8 more figures