Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

摘要

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.