Lattice-based modular robot systems are envisioned for large-scale construction in extreme environments, such as space. Coupling mechanisms for heterogeneous structural modules should meet all of the following requirements: single-sided coupling and decoupling, flat surfaces when uncoupled, and coupling to passive coupling interfaces as well as coupling behavior between coupling mechanisms. The design requirements for such a coupling mechanism are complex. We propose a novel shape-matching mechanical coupling mechanism that satisfies these design requirements. This mechanism enables controlled, sequential transitions between male and female states. When uncoupled, all mechanisms are in the female state. To enable single-sided coupling, one side of the mechanisms switches to the male state during the coupling process. Single-sided decoupling is possible not only from the male side but also from the female side by forcibly switching the opposite mechanism's male state to the female state. This coupling mechanism can be applied to various modular robot systems and robot arm tool changers.

翻译：基于晶格的模块化机器人系统被设想用于在极端环境（如太空）中进行大规模构建。用于异构结构模块的耦合机制应满足以下所有要求：单侧耦合与解耦、解耦时表面平整、能够耦合到被动耦合接口以及耦合机制之间的耦合行为。此类耦合机制的设计要求十分复杂。我们提出了一种新颖的形状匹配机械耦合机制，满足了这些设计要求。该机制能够在雄性与雌性状态之间实现受控的顺序转换。在解耦状态下，所有机制均处于雌性状态。为实现单侧耦合，在耦合过程中，机制的一侧会切换为雄性状态。单侧解耦不仅可以从雄性侧进行，也可以通过强制将对方机制的雄性状态切换为雌性状态，从雌性侧实现。该耦合机制可应用于各种模块化机器人系统和机器人手臂工具快换装置。