Polypod is made up of two types of modules called Segments and Nodes.
|Segments are two degree of freedom parallel mechanisms composed of 10 links. The kinematics of the resulting mechanism is similar to two prismatic joints joined together by a revolute joint where the prismatic joints are constrained to have the same length.|
Each segment module contains all the components to be a stand-alone robot in itself (except for power):
|Power is supplied by the second type of modules called Nodes. Nodes are rigid cube shaped modules roughly 2"x2"x2" with 6 connection ports whose main purpose is to hold gel-cel batteries and to allow for non-serial chain robots.|
By the time I graduated in Dec. 1994 I had 11 modules total. Here are some photos(~200K)of the physical robot.
last updated November 1996