Connecting Gripping Mechanism Based on Iris Diaphragm for Modular Autonomous Robots

In this work, homogeneous gripping mechanical devices for connecting small-sized modular autonomous robots are described. The review of solutions of gripping and holding industrial mechanisms, and robotic switching mechanisms, as well as docking devices of space vehicles is given. The design of the connecting gripping mechanism of Mobile Autonomous Reconfigurable System (MARS) for coaxial conjugation of robots is proposed and it works in conjunction and passive modes to form modular structures. In the passive state, the working body of the mechanism forms a geometrical figure, which is suitable for connecting with identical device. In this case working body opens gripping mechanism and capture similar mechanism in the passive state. The proposed mechanism is based on the iris diaphragm, which prevents the uncontrolled displacement of the working body and stops the mechanism. It excludes the accidental rotation around the axis of the autonomous unit during operation in the formed structure. Infrared sensors (IR) were used for the concentric alignment of the axes of the connection devices. Sensors of this type estimate the distance and deflection angle of the opposed mechanism.