STRUCTURE OF A SUB-MODULE The Sub-Modules are assemblies that connect together to form Macro-Modules, and these Macro-Modules then connect to each other to form application structures. These Sub-Modules are all identical to each other in all aspects of structure (e.g., mechanically, electronically, operationally). They consist of two different types of bases and a leg. One […]
LEG PIVOT RANGE REQUIREMENT In the following figures, all the dashed lines are parallel to each other. The dashed red lines indicate imaginary lines between the two opposite corners of the cube-shaped nucleus, and the dashed light-blue lines indicate imaginary lines connecting the centers of the face of the cube-shaped nucleus, where the legs connect […]
LEG THICKNESS LIMITS BASED ON PIVOTING RANGES AND WELL PERIMETER EDGE The thickness of the outermost telescoping leg segment (the rectangular sides of a cross section) determines the leg’s pivoting range limit. For a thicker leg the pivoting range limit is smaller, and for a thinner leg the pivoting range limit is larger. The tradeoffs […]
GEOMETRICAL CELL DIMENSION LIMITS AND REQUIREMENTS In order to be able to achieve some of the needed features and capabilies, there are some minimum requirements in length ratios and pivot angles which can be calculated. There are also certain constraints in length ratios imposed by the geometric shapes of the modules. Figure 12a shows equivalences […]
PATTERN FOR ELEMENT CORE ELECTRONIC CONNECTIONS The sub-modular entities in a basic level modular element need to be able to electronically connect to each other through their core bases, to transfer power or communicate with each other. In a full basic level modular element each entity can electronically connect directly to every other entity, except […]
OPTIMAL RATIO CALCULATION FOR MODULE CORE ASSEMBLY BASE COMPONENT Six assemblies, and an optional power cube, form a module; each assembly is made up of several distinct components: a telescoping leg, one base that connects directly to the telescoping leg (the connecting plate), a module core base, and an intermediate component that connects the telescoping […]
THE CANTILEVER AND A BENEFIT OF HAVING A LARGE-RADIUS CONNECTING PLATE In some applications it is necessary to be able to form cantilevers with the modules; to form a cantilever requires several modules to be connected in series horizontally. Figure 13a shows a row of four modules with small connecting ends, in green, joined together […]
CHAIN ARTICULATION BENEFIT With the use of a method involving chained cells, it is unnecessary for any of the legs to be able to pivot more than 45°. Figure 18a shows a situation where cells A and B are joined to each other, and cells C and D are also joined to each other. Cells […]
MODULE CONNECTION ARRANGEMENT PATTERNS OF A CELL A cell can be composed of a varying number modules, sometimes in various combinations for a given number of modules. When there can be various combinations for a given number of modules, there can be some arrangements that are not appropriate. Figure 19a shows 3 Core Base Assemblies, […]
CONNECTING PLATES ALIGNMENT REQUIREMENT When the connecting plates of two different cells engage each other to connect to bond together correctly, the axis going though the center of each telescoping shaft and connecting plate have to be both parallel and aligned with each other; in other words, they both have to share a common axis. […]
LATERAL LATTICE RECONFIGURATION USING LEG EXTENDING CAPABILITIES This type of modular self-reconfigurable system is capable of lattice based transformations to change its shape by using the leg extending and retracting feature. Figure 6a shows several modules initially in a state where there is an empty space above module E and between modules B and C. […]
DIAGONAL LATTICE RECONFIGURATION USING LEG EXTENDING CAPABILITIES This type of modular self-reconfigurable system is capable of lattice based transformations to change its shape by using the leg extending and retracting feature. Figure 7a shows a matrix consisting of a column on the left with 2 modules which is connected to another module in the middle […]
ALIGNING LEGS FOR JOINING CONNECTING PLATES To join together two modules that are not aligned, in positions where all that is necessary is to extend the appropriate legs, both of these legs have to pivot to the correct angle. Figure 9a, shown below, is an example of two modules A and B that are not […]
BASIC MODULE TRANSFERS, MOVEMENTS, AND CONNECTIONS A module can be transferred around in a matrix of modules by pivoting and telescoping the legs, and connecting and disconnecting with the connecting plates. In Figure 4a, below, modules A-E are connected together to form a two dimensional matrix; in this matrix, module A is initially positioned in […]
DETERMINING THE DISTANCE BETWEEN THE CENTERS OF TWO CELLS CONNECTED TOGETHER The geometric structural topology of a full cell consists of it having the following fundamental characteristics: the distance between the center of a cell and the point at which each leg pivots is a constant value for each cube face, the distances between the […]
SENSOR-BASED DISTANCE DETERMINATION FOR CENTERS OF TWO CELLS CHAINED THROUGH A THIRD CELL Certain lengths and angles can either be measured with sensors or are known constants that can be used to calculate the distance between the centers of two cells connected to a middle (third) cell such that they are chained in series. In […]
CELL STRUCTURE FORMING PATTERN POSSIBILITIES There are several ways a module can be attached to other modules to form a partial cell, full cell, or inverse cell. In Figure 23a, the different side views of a single module is shown in various colors. The leg and connecting plate assembly is a darker blue, and the […]
EXTENDING/RETRACTING MATRIX EFFECT There are 3 basic means that a matrix can use to produce an extending or retracting effect; these are pivoting the legs (Figure 11a, below), telescoping the legs (Figure 11b, below), or rotating the connecting plate surface (Figure 11c, below). They can be performed in any combination with each other, and using […]
MATRIX PRODUCTION OF ROTATIONAL MOTION A matrix consisting of a large quantity of modules is capable of producing rotational motion. Figure 10a, shown below, shows a matrix in a ring configuration to produce this effect. It consists of an outer ring in red, and an inner ring in blue. It can be more than one […]
MAKING ACCELEROMETERS USING MODULES IN A MATRIX Although the modules can be produced so that each one has its own accelerometer, it is perhaps better that this option not be utilized, especially for matrices that would consist of large numbers of modules, for the following reasons: It is more expensive to mount an accelerometer element […]
EFFICIENT MODULE TRANSFERS AND MOVEMENTS When there is a need for a module at a particular location in a matrix where there currently isn’t one, there is more that one way to get a module to that location. Figure 5a shows a matrix of modules. The top row has a module A at the left […]
ENERGY RECOVERY METHOD It is possible to recover some of the energy that is expended to vertically move a module. Figure 14a shows a matrix of modules with a single module in the left-most column, shaded blue, and the 2nd from left column of modules are shaded green; these green modules will be used to raise […]
DESCRIPTION AND REFERENCE
TERMINOLOGY This terminology does not necessarily adhere to strict technical formality. It is only meant to serve as a reference guide for standardization of their use in the articles. Some of the older versions of articles do not yet comply with this standardization. TERM WORKING DEFINITION OR EXPLANATION cell a collection of between two to […]
BENEFITS AND ADVANTAGES Each cell in a mesh is capable of producing both translational and rotational motion. In each module there are three degrees of rotational freedom: rotation about the axis of the telescoping shaft, and pivoting the telescoping shaft in both (x & y axes) dimensions with a universal joint-like hinge system in the […]
CUBE FACE NUMBERING CONVENTION A number pattern convention can be used to identify modules when they are brought together to form a cell. In the Image below, Figure A shows a 3-dimensional cube with the faces that are showing numbered 1, 2, and 3 in a counter-clockwise direction about their common corner. Figure B shows […]
COMPONENTS, MOVING PARTS, AND CONNECTORS OF A CELL MODULE A cell module consists of several moving parts. There are 4 basic assemblies that make up a cell module, and each assembly consists of several components. The following is a list of the assemblies and the mechanical components of each assembly involved in the interaction between […]
TYPES OF CONNECTIONS BETWEEN ELEMENTS When two modules connect to, or just come in contact with, each other with the connecting plate surfaces, there are 3 ways this can happen. One way this can happen is if the surfaces only touch each other, but there is no interlocking bond; only pressure or stability are involved, […]
PROOF OF CONCEPT
PROTOTYPES MADE FROM LEGOS (Page 3 of 3) These photos show prototype modules connected in triangular and rectangular loop patterns.
PROTOTYPES MADE FROM LEGOS (Page 2 of 3) These photos show prototype modules connected to form partial or complete cells, and cell interconnections.
PROTOTYPES MADE FROM LEGOS (Page 1 of 3) These photos show a prototype module, basic articulation capabilities, and connections between two modules.
VIDEO CLIPS OF RECONFIGURABLE MODULE PROTOTYPES MADE FROM LEGOS [EMBED VIDEO HERE] A Single Module This video shows a Lego mock-up of a single module’s motion and movement capabilities: horizontal and vertical leg pivoting leg telescoping extending and retracting connecting plate rotation [EMBED VIDEO HERE] Two Module This video of two Lego mock-ups of a […]
VIDEO CLIP OF INDUCTANCE TRANSDUCERS [EMBED VIDEO HERE] Exploring Inductors In this video, inductance for transducer-to-transducer applications and the benefits to self-reconfigurable technology will be examined. electromagnets – for instant bonding between modules isolators (1:1 transformers) – for power transmission transmission of data – as signal transducers sensors to detect each other – to triangulate […]
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