OPENTECHNICAL PUBLICATION
OT-2026-000003149

Reconfigurable modular joint and robots produced therefrom

Published: 2026-09-15T19:39:11.941355Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003149
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000003149
Published 2026-09-15T19:39:11.941355Z
https://opentechnical.org/p/OT-2026-000003149