# US 10,372,115 B2 · Modular and reconfigurable manufacturing systems

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- Number: US 10,372,115 B2
- Document ID: US10372115B2
- Status: Granted
- Kind: B2
- Application number: 14/061,063
- Filed: 2013-10-23
- Published: 2014-05-01
- Granted: 2019-08-06
- Earliest claimed: 2012-10-26
- Assignees: Board of Regents, The University of Texas System
- Applicants: Aditya Narayan Das; Stephen Savoie
- Inventors: Aditya Narayan Das; Stephen Savoie
- Web page: https://patentgrep.com/patent/US10372115B2

## CPC

- G05B 19/41845: {characterised by system universality, reconfigurability, modularity}
- B23Q 37/005: {Modular base frames}
- G05B 2219/31044: Assembly of modular products, variant configurability
- Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS

## Abstract

In one embodiment, a manufacturing system includes multiple manipulation modules each including means for mechanically and electrically connecting the module to another component in the system and an end effector including means for mechanically and electrically connecting the end effector to another component in the system, wherein the modules and end effector can be mechanically and electrically connected in multiple ways to alter the configuration of the system and the manufacturing tasks that the system can perform.

## Claims

### Claim 1

A modular manufacturing system comprising:
multiple manipulation modules each including a base and a platform configured to either linearly move relative to the base or rotate relative to the base, the platform having a top planar mating surface comprising alignment elements configured to align the module with other components of the system, connection elements separate from the alignment elements configured to mechanically attach the module to other components of the system, and an array of electrical contacts configured to electrically connect the module with electrical contacts of other components of the system, the electrical contacts comprising spring-loaded pins that are radially arranged from a center of the top planar mating surface outward toward an edge of the top mating surface, the base having a bottom planar mating surface comprising alignment elements configured to align the module with other components of the system, connection elements separate from the alignment elements configured to mechanically attach the module to other components of the system, and an array of electrical contacts configured to electrically connect the module with electrical contacts of other components of the system, the electrical contacts comprising concentrically arranged continuous circular contacts that are each configured to contact a radially arranged spring-loaded pin of another component of the system; and
an end effector including a tool configured to perform a manufacturing task and a planar mating surface comprising alignment elements configured to align the end effector with other components of the system, connection elements separate from the alignment elements configured to mechanically attach the end effector to other components of the system, and an array of electrical contacts configured to electrically connect the end effector with electrical contacts of other components of the system, the electrical contacts comprising concentrically arranged continuous circular contacts that are each configured to contact a radially arranged spring-loaded pin of another component of the system;
wherein the modules and end effector can be mechanically and electrically connected in multiple configurations to alter the configuration of the system and the manufacturing tasks that the system can perform.

### Claim 2 (depends on 1)

The system of claim 1, wherein the connection elements comprise permanent magnets that enable snap fitting to and quick release from other components in the system.

### Claim 3 (depends on 1)

The system of claim 1, wherein the manipulation modules and the end effector each comprise a microprocessor, wherein the microprocessors are connected to a shared bus to distribute control of the system.

### Claim 4 (depends on 3)

The system of claim 3, further comprising a master controller configured to communicate with the manipulation modules and the end effector, wherein the manipulation modules and the end effector are each configured to automatically communicate their respective positions and orientations within the system to the master controller.

### Claim 5 (depends on 1)

The system of claim 1, further comprising an angled fixture including first and second platforms that lie in different orthogonal planes, the first platform having a planar mating surface comprising alignment elements configured to align the fixture with other components of the system, connection elements separate from the alignment elements configured to mechanically attach the fixture to other components of the system, and an array of contacts configured to electrically connect the fixture with electrical contacts of other components of the system, the second platform having a planar mating surface comprising alignment elements configured to align the fixture with other components of the system, connection elements separate from the alignment elements configured to mechanically attach the fixture to other components of the system, and an array of contacts configured to electrically connect the fixture with electrical contacts of other components of the system.