Modular robotic system

A modular robotic system for displacing an end effector through a prescribed path of motion, comprising:

• an arm set defined by an assembled plurality of modular components including a plurality of active members each having a drive portion and a driven portion movable with respect thereto, said arm set being adapted to carry said end effector;
• a control station including means for transmitting an end effector position signal;
• cable means coupled between said control station and each of said active members for communicating said end effector position signal to said active members, said cable means being coupled to said active members;
• and
• microprocessor means mounted on-board each of said active members for receiving and interpreting said end effector position signal and for responding thereto to operate said drive portion for displacing said driven portion through an individualized displacement, whereby the combination of individual displacements of said driven portions of said active members displaces said end effector to a prescribed destination point;
• said drive portion of each of said active members including a drive motor having an output shaft, and said driven portion of each of said active members comprises a driven sleeve coupled to said output shaft, and further wherein said microprocessor means is responsive to said end effector position signal to operate said drive motor to rotate said output shaft in a selected direction and magnitude.