The system consists of the symmetric manipulator body, standard docking ports and modular end effectors. The docking ports come in the five types below under a single standard, placed to fit the structure of the site. The manipulator moves between ports by itself and works from a fixed base at each work point.
Ceiling
Wall and floor mount
Workbench mount
AMR mount
Quadruped mount
Docking interface locking mechanism
A latch structure that stays locked even if power is suddenly cut guards against falls. The entry is wide and narrows toward the inside to absorb actuator error, and the play that comes with latches is taken up by a separate locking actuator and the mechanical design.
Port recognition and alignment control
An ArUco marker and a camera identify the port, and the position and orientation errors that arise while approaching it are corrected.
Redefining base coordinates
Once docking is complete, the kinematic reference switches using the port ID and the pre-registered port coordinates, and an IMU verifies the orientation of the mounting surface.
Dual-lock safety design
The sequence is enforced so that the old lock is released only after the opposite end is confirmed locked. The lock is built in duplicate so that a single failure does not lead to a fall.