Mechanical Specification

1. Robot modules: Robot must be partitioned into modules. These modules must be chosen according to its typical functions and each module must be completely independent on other modules. In a humanoid robot, for example, we recommend the following modules: head, chest, legs, arms, hands. However, a robot design is free to use any number or type of modules.
   1. Self-contained structure: modules are encouraged to keep all its structures (mechanical, electrical, computational and communication) inside of its own mechanical structure, allowing a quick and easy handle of the module. In the same direction, modules must have a structural rigid material able to properly attach all its internal units, except in the case of the internal module, which is allowed to plug its sensors, actuators and/or wires in the external module;
2. Torp mechanical plug (TMP): modules cannot be connected to other modules except using standard mechanical plugs. This practice assures that any module will be able to physically connect into any TORP robot, part or version. Figure bellow illustrates this connection, and the table provides information regarding TMP allowed sizes and models. 3D drawings of these plugs can be found in our project galleries.

1. Modules connection classification: Since modules can be plugged in complex ways, there must be a standardization of these connections types:
   1. Connection with previous module: How is this module connected to the previous module? Current module can be connected in two different ways:
      1. “external”: this module (A) is physically connected to a previous module (B) using the TMP, and A is physically external to B;
      2. “internal”: this module (A) is fully internal to the previous module (B). Internal modules does not need to be connected using the TMP. This is allowed only to extremely simple and light modules (typically those who have only an electrical board connected to some special sensor without any mechanics and so on). In this case the connection between modules is made using screws;
   2. Connection with next modules: How many and how other modules can be connected to current module? Current module can be classified in three different ways:
      1. “Expansible of order N”: this module offers N TMPs that can be used by other modules;
      2. “Terminal”: this module does not provide TMP connections to other modules.
2. Labels: Modules and TMPs must carry precise information (physically written in these parts) regarding some special characteristics:
   1. TMP label: any material can be used to construct the TMP. However, different materials imply in different solid mechanics properties, and, hence, the maximum number of allowed connected modules depends on the mechanical plug material. In this way, TMPs must carry its maximum load (N) and torque (N.m) that can be supported by this mechanical plug.

1. Module label: Every single module must carry precise information (physically written in the module) regarding its own load (in N), length (in m) and degrees of freedom.In this way, the label bellow is suggested to be added to the module's plug: