UNDERWATER RECONFIGURABLE MODULAR ROBOT Russian patent published in 2022 - IPC B63C11/52 B25J9/00 

FIELD: mobile robotics.

SUBSTANCE: invention relates to the field of mobile robotics, namely to underwater robots. An underwater reconfigurable modular mobile robot is proposed, which contains a number of modules connected in series to each other, including traction modules that create traction using traction devices installed on them with adjustable thrust force and direction, drive reconfiguration modules, as well as service modules containing on-board equipment and equipment that ensure the functioning of the robot as intended. Each module is made with a given degree of buoyancy and stability, so that the robot in any configuration as a whole has predictable buoyancy, and each module has mechanical and electrical interfaces on the bases of the housings, allowing you to connect the modules in any order.

EFFECT: invention provides controllability of the robot movement in any configuration, increase in energy efficiency of the system of traction modules, simplification of the design of modules, manufacturing and assembly operations of the robot in various sequences of connecting modules and architecture of the robot control system.

5 cl, 8 dwg