LaMMos - Latching mechanism based on motorized-screw for reconfigurable robots

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 the physical tools such as hook, cages or magnets, which limit the payload capacity. Therefore, the heavy weight robots require a latching mechanism which can help to auto reconfigure itself without sacrificing the payload capability. This paper presents a latching mechanism based on the flexible screw attaching principle. We use actuators to move the robot links and joints and connect them with a motorized-screw, and disconnect them by unfastening the screw. The right-angle bracket used in our mechanism configuration helps to hold maximum force up to 2000N. This 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 reconfiguring the leg positions. And it helps to recover the legs positions to original status once the robot is inside the pipe. This mechanism offers many interesting opportunities for robotics research in terms of functionality, payload and size.