A new generation of modular robots

Abstract

A new generation of modular robots was studied based on a concept of mechatronic modules clustering. A generalization of mechatronic module consists of an electromechanical part driven by an electronic part implementing a control and communication unit and, a motor drive. The main property of the control is the scalability. The modules are connected by a very high efficiency real time communication network. The clustering permits to connect several modules in order to achieve a more complex robot architecture, starting from serial kinematic chains up to parallel kinematic machines configurations