Development of a 3D-Printable Screw Coupling and a System for Continuous Evaluation of Connection Functions

Multiple modular robots use attach- ment/detachment couplings to adapt to diverse tasks and environments. Sharing the same physical components across different robots and applications requires couplings that (1) have low backlash, (2) are low cost, and (3) allow easy attachment and detachment. However, the presence of multiple couplings on a robot makes it challenging to maintain reliable mechanical and electrical connections. We propose a 3D-printable screw-type electromechanical coupling (“ Screw Coupling ”), demonstrate its integration into heterogeneous components, and present applications on multiple robots. We also introduce a system that continuously applies loads and moments to the coupling during operation, enabling real-time evaluation and ensuring long-term reliability.