Module update

Wall of modules in closed formation. Right now, we are currently developing methods that will allow the wall to open or close in certain areas. In order to do that, the module(s) that extend their legs will have to cause a reaction in which all the other modules in the wall conform to that configuration. In other words, if one module extends one leg in the middle of the wall, its neighboring modules will have to move to make room for the extending leg. Doing this will allow for varying states of openess in the wall. The modules will have to learn to push and squeeze against eachother


Module latch... To connect modules to one another. Since our current wall configuration has the modules connecting at the edge lines, we had to design a system in which to interlock the modules. In the picture, there is a center bar or guide that holds a latch in place. The latch can slide up and down the bar to allow for easier connection to a neighboring module. That way, the other module would not have to flip over if the latches were locked in place. The slot in the latch clips or snaps onto the bar of the neigboring module, therefore creating a tight connection between the two modules.


Close up of latch


Module with legs fully extended. This configuration reveals the center "brain" of the module. It is the mechanical and electrical control center of the module. It is also the area where the legs can retract and allow the module to close. The kinematics of the module is quite simple to understand. In a closed position, the module figures out its position and it's "right side up." It uses it's legs to pick itself up and orient itself. Then a simple movement of the arms and legs governs where and how fast it moves. Also, it can use one of it's legs to shift its weight and change direction.






Module with legs retracted