Importance

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Abstract

A modular tabletop apparatus, typically used for workpiece storage and handling during robotic manipulation and feeding to a machine, is disclosed. Modules of the apparatus comprise detection interfaces disposed at locations corresponding to module edge locations and arranged in a periodic grid. Alignment of facing detection interfaces along common edges of pairs of adjacent modules permits module controllers to detect neighboring modules, and a main controller to compute the overall size and shape of the tabletop formed by the modules. Connecting arrangements are also disclosed. The connecting arrangements may be placed at the same grid locations as the detection interfaces, advantageously permitting alignment of detection interfaces for any interconnection configuration of modules. Modules may comprise plates with a grid of positioning indentations. The period of the positioning grid can be an integer multiple or integer fraction of that of the interface/connection grid.

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First Claim