Detachable Wire Drive : Reconfigurable Robot Architecture with Shared Actuators

2026-08-15

AI Summary

This study addresses the redundancy and high costs associated with independent actuation in reconfigurable robots by proposing a detachable cable-driven architecture. Through the design of a cable separation unit and a shared actuator base, this framework enables the physical reuse and seamless switching of expensive, heavy-duty actuators across diverse modules, including robotic arms and grippers. Furthermore, a cross-configuration smooth switching control framework is established to ensure system coordination. Experimental results validate both the mechanical reliability of the detachable mechanism and the effectiveness of the control strategy. Consequently, this approach significantly reduces system weight, volume, and cost, offering a novel paradigm for the efficient reconfiguration of modular robotic systems.

Abstract

Reconfigurable robots offer significant potential for adapting to diverse tasks; however, conventional centralized architectures often require dedicated actuators for each module, leading to substantial increases in overall system weight, volume, and cost. To address these challenges, this paper presents the "Detachable Wire Drive," a reconfigurable robotic system that enables the sharing of heavy and expensive actuators across various morphologies. The core of this system is the "Wire Detach Unit," a mechanism designed to physically split and reconnect wire drive paths, allowing motors to be consolidated into a common base unit. We demonstrate the versatility of this approach by developing a 2-DOF rigid arm, a continuum arm, and two distinct grippers, all of which are interchangeably attached to, and driven by, a single shared actuator set. Experimental results validate the mechanical reliability of the detachment process and the control framework's ability to seamlessly manage transitions between configurations, highlighting a path toward more efficient and multi-functional robotic systems.

Problem

• Reconfigurable robots
• Shared actuators
• System weight
• Cost reduction

Innovation

• Reconfigurable Robot
• Shared Actuators
• Detachable Wire Drive
• Wire Detach Unit
• Modular Robotics