Designing and Validating a Self-Aligning Tool Changer for Modular Reconfigurable Manipulation Robots

• URL: http://arxiv.org/abs/2603.04760v1
• Date: Thu, 05 Mar 2026 03:17:02 GMT
• Title: Designing and Validating a Self-Aligning Tool Changer for Modular Reconfigurable Manipulation Robots
• Abstract summary: We propose a misalignment-tolerant tool-changing system for reconfigurable robots.<n>The hardware features a motor-driven coupling utilizing passive self-alignment.<n>Experiments validate that the self-aligning features successfully absorb execution errors.
• Score: 7.124188498356204
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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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