Abstract
Connectors that realize connections between modules are an indispensable component of modular self-reconfigurable robots. In this paper, a hermaphrodite connector coupled with electromechanical connection capability is proposed, called HerCel. The specially designed connection mechanism and electrical interface of HerCel can realize both mechanical and electrical connections simultaneously at four orientations to achieve power transmission, communication, and orientation detection between modules, except for the basic functions required for connectors, such as symmetry, high misalignment tolerance, self-locking, and sensing. A detailed design of HerCel is presented, including the connection mechanism, sensor layout, and electrical interface. A series of experiments with HerCel prototypes testing electromechanical connection, misalignment tolerance, and load capability were carried out to illustrate the design feasibility. Furthermore, a self-reconfiguration motion test of a module was conducted to verify the performance of HerCel.
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