SINGO: a single-end-operative and genderless connector for self-reconfiguration, self-assembly and self-healing

Authors:
Wei-Min Shen;Robert Kovac;Michael Rubenstein
Affiliations:
Information Sciences Institute and Computer Science Department at the University of Southern California, Marina del Rey, CA;JPL;Information Sciences Institute and Computer Science Department at the University of Southern California, Marina del Rey, CA
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

Flexible and reliable connection is critical for self-reconfiguration, self-assembly, or self-healing. However, most existing connection mechanisms suffer from a deficiency that a connection would seize itself if one end malfunctions or is out of service. To mitigate this limitation on self-healing, this paper presents a new SINGO connector that can establish or disengage a connection even if one end of the connection is not operational. We describe the design and the prototype of the connector and demonstrate its performance by both theoretical analysis and physical experimentations.