In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to different environments and tasks. These modular components are intended primarily for robotic systems in space exploration and construction on the Moon in our Moonshot project. Such modular robots add flexibility and versatility for space missions where resources are constrained. Each module is driven by a common actuator characterized by a high torque-to-speed ratio, supporting both precise control and dynamic motion when required. This unified actuator design simplifies development and maintenance across the different module types. The paper describes the hardware implementation, the mechanical design of the modules, and the overall software architecture used to control and coordinate them. Additionally, we evaluate the control performance of the actuator under various load conditions to characterize its suitability for modular robot applications. To demonstrate the adaptability of the system, we introduce nine functional configurations assembled from the same set of modules: 4DOF-limb, 8DOF-limb, vehicle, dragon, minimal, quadruped, cargo, cargo-minimal, and bike. These configurations reflect different locomotion strategies and task-specific behaviors, offering a practical foundation for further research in reconfigurable robotic systems.

翻译：本文介绍了4自由度机器人肢体（我们称之为Moonbots）的开发，该设计能够与同类模块及轮式模块以多种构型连接，从而适应不同环境与任务需求。这些模块化组件主要面向我们Moonshot项目中月球空间探索与建设的机器人系统。此类模块化机器人为资源受限的太空任务增添了灵活性与多功能性。每个模块由具备高扭矩-转速比特性的通用驱动器驱动，在需要时既能支持精确控制也能实现动态运动。这种统一的驱动器设计简化了不同模块类型的开发与维护工作。本文详细阐述了硬件实现方案、模块的机械设计以及用于控制协调的整体软件架构。此外，我们评估了驱动器在不同负载条件下的控制性能，以明确其适用于模块化机器人应用的特质。为展示系统的适应能力，我们使用同一组模块组装了九种功能构型：4自由度肢体、8自由度肢体、载具、龙形、极简、四足、货运、极简货运及自行车构型。这些构型体现了不同的运动策略与任务导向行为，为可重构机器人系统的进一步研究提供了实践基础。