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Reconfigurable robots refer to a category of robots that their components(individual joints and links) can be assembled in multiple configurations andgeometries. Most of existing latching mechanisms are based on physical toolssuch as hooks, cages or magnets, which limit the payload capacity. Therefore,robots re- quire a latching mechanism which can help to reconfigure itselfwithout sacrificing the payload capability. This paper presents a latchingmechanism based on the flexible screw attaching principle. In which, actuatorsare used to move the robot links and joints while connecting them with amotorized-screw and dis- connecting them by unfastening the screw. The bracketsused in our mechanism configuration helps to hold maximum force up to 5000N.The LaMMos - Latching Mechanism based on Motorized- screw has been applied tothe DeWaLoP - Developing Water Loss Prevention in-pipe robot. It helps therobot to shrink its body to crawl into the pipe with minimum diameter, byrecon- figuring the leg positions. And it helps to recover the legs positionsto original status once the robot is inside the pipe. Also, LaMMos addstiffness to the robot legs by dynamically integrate them to the structure.Additionally, we present an application of the LaMMos mechanism to exoskeletonsuits, for easing the mo- tors from the joints when carrying heavy weights forlong periods of time. This mechanism offers many interesting opportunities forrobotics research in terms of functionality, pay- load and size.

LaMMos - Latching Mechanism based on Motorized-screw for Reconfigurable Robots and Exoskeleton Suits