---
publication_id: "OT-2026-000003149"
title: "Reconfigurable modular joint and robots produced therefrom"
published_at: "2026-09-15T19:39:11.941355Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000003149"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/08"
  - "b25j9/08"
  - "g05b2219/34205"
  - "g05b2219/34205"
  - "g05b2219/34422"
  - "g05b2219/34422"
---

# Reconfigurable modular joint and robots produced therefrom

## Abstract

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 is a communication bus between the modules and the host computer and a power supply bus.

## 1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.

[0005] Sheet 5.

[0006] Sheet 6.

[0007] Sheet 7.

[0008] Sheet 8.

[0009] Sheet 9.

[0010] Sheet 10.