Development of Adaptive-Limb Transformable Robot for Portable and Replaceable End-Effectors with Compact Lock-Spin Mechanisms

Abstract

Transformable robots adapt to various environments by changing their shape or functionality. The robots are able to further expand their task range by replacing their end-effectors (EEs). In this paper, we propose an adaptive-limb transformable robot capable of replacing multiple types of mounted EEs. First, 7 degrees of freedom (DoF) limbs can reach multiple types of EEs mounted on the front body surface, and replace them using that single limb without relying on external devices. Second, we develop a compact Lock-Spin mechanism that integrates a locking mechanism into the rotor of the motor to enable continuous rotation. Experimental results demonstrate that the proposed transformable robot can replace EEs on-site and that this replacement enables locomotion and manipulation adapted to the environment.