一种可顺序切换的模块化机器人耦合机构，支持单侧连接与断开。
A Sequential Hermaphrodite Coupling Mechanism for Lattice-based Modular Robots
- 通过形态匹配实现男女状态的可控顺序转换
- 单侧连接与断开均可用，断开时可强制切换对侧状态
- 适用于异构模块系统和机械臂换工具场景
基于晶格的模块化机器人系统被设想用于极端环境（如太空）的大规模建造。异构结构模块的耦合机制需满足：单侧连接与断开、未连接时表面平整，以及与被动接口的耦合能力，以及耦合机构间的相互作用行为。这些设计要求复杂。本文提出一种新型形态匹配式机械耦合机构，满足上述所有要求。该机构能实现男/女状态的可控、顺序转换：未连接时所有机构处于女性状态；连接过程中，一侧主动切换为男性状态，实现单侧连接；断开时，无论从男性侧还是女性侧，均可通过强制将对侧机制由男性切换为女性状态来完成单侧断开。该机制可应用于多种模块化机器人系统及机器人臂工具更换装置。
原文摘要 · Abstract (English)
Lattice-based modular robot systems are envisioned for large-scale construction in extreme environments, such as space. Coupling mechanisms for heterogeneous structural modules should meet all of the following requirements: single-sided coupling and decoupling, flat surfaces when uncoupled, and coupling to passive coupling interfaces as well as coupling behavior between coupling mechanisms. The design requirements for such a coupling mechanism are complex. We propose a novel shape-matching mechanical coupling mechanism that satisfies these design requirements. This mechanism enables controlled, sequential transitions between male and female states. When uncoupled, all mechanisms are in the female state. To enable single-sided coupling, one side of the mechanisms switches to the male state during the coupling process. Single-sided decoupling is possible not only from the male side but also from the female side by forcibly switching the opposite mechanism's male state to the female state. This coupling mechanism can be applied to various modular robot systems and robot arm tool changers.
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