Analytic integration of tolerances in designing precision interfaces for modular robotics

A robotic system for providing precision interfaces between a rotary actuator and at least one robotic structure, comprising:

• a robotic structure responsive to control by a rotary actuator;
• connection means for connecting said robotic structure to a rotary actuator, said connection means further comprising means for relating at least one significant interface design parameter to a relative position and orientation of said connection means;
• and
• a rotary actuator for controlling the response of said robotic structure, said rotary actuator comprising:
• an actuator shell;
• an eccentric cage, disposed within the actuator shell;
• a prime mover having a first prime mover portion rigidly fixed to the actuator shell and a second prime mover portion, rotatable with respect to the first prime mover portion, rigidly fixed to the eccentric cage, and capable of exerting a torque on the first prime mover portion;
• a cross-roller bearing having a first bearing portion rigidly fixed to the actuator shell and a second bearing portion, free in rotation with respect to the first bearing portion;
• an output attachment plate rigidly fixed to. the second bearing portion;
• a shell gear rigidly fixed to the actuator shell;
• an output gear rigidly fixed to the output attachment plate;
• an eccentric, disposed about the eccentric cage, having a first gear portion meshed to the shell gear and a second gear portion, adjacent to the first gear portion, meshed to the output gear;
• a first structural link rigidly attached to the actuator shell using by quick-change attachment structure;
• and
• a second structural link rigidly attached to the output attachment plate by quick-change attachment structure.