提出可自对齐的模块化机械臂换工具装置，解决装配误差导致的失败问题。
Designing and Validating a Self-Aligning Tool Changer for Modular Reconfigurable Manipulation Robots
- 采用倒角孔与三角导引结构实现被动自对齐，无需力传感器
- 实测在有偏差情况下仍能可靠完成换工具操作
- 配套旋转式存取站，支持全自动模块更换，适合工业应用
模块化可重构机器人需要可靠的自动化模块交换机制，但传统刚性主动连接常因不可避免的位置和姿态误差而失效。为此，我们提出一种容错型换工具系统。硬件采用电机驱动的耦合结构，结合倒角孔和三角导引槽等被动自对齐几何设计，可在无复杂力传感器条件下有效补偿角度与横向偏差。为实现自主换接的实用性，该机构配备紧凑型旋转工具存取站，实现高效模块存储。真实世界中的自主取工具实验验证了自对齐功能能有效吸收执行误差，实现高可靠性的机器人工具重构。
原文摘要 · Abstract (English)
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a misalignment-tolerant tool-changing system. The hardware features a motor-driven coupling utilizing passive self-alignment geometries, specifically chamfered receptacles and triangular lead-in guides, to robustly compensate for angular and lateral misalignments without complex force sensors. To make this autonomous exchange practically feasible, the mechanism is complemented by a compact rotating tool exchange station for efficient module storage. Real-world autonomous tool-picking experiments validate that the self-aligning features successfully absorb execution errors, enabling highly reliable robotic tool reconfiguration.
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