Modular robotic system

1. An A module for a modular robotic system, the module comprising:

a pair of actuator mechanisms, each mechanism comprising:

a motor having a drive shaft, the shaft defining an output axis, and a body extending away from the shaft, the body defining a maximum width dimension orthogonal to the output axis;

a carrier configured to be secured to the motor, the carrier defining a longitudinal axis parallel to the output axis; and

an actuating member operatively connected to the shaft such that operation of the motor causes the actuating member to move relative to the carrier,

wherein the output axis is arranged offset from the longitudinal axis by at least half of the maximum width dimension; and

a sleeve sealingly engaged with the carrier of each actuator mechanism such that the sleeve and the carriers define a sealed volume, the sleeve defining a further longitudinal axis arranged coaxially to the longitudinal axis of each carrier.

2. The module according to claim 1 , wherein operation of either motor causes the associated actuating member to perform one of the following operations: move along the longitudinal axis; rotate about the longitudinal axis; and rotate about an actuator axis arranged transverse to the longitudinal axis.

3. The module according to claim 1 , wherein at least one of the actuating mechanisms further comprises: a gearing mechanism arranged between the shaft and the associated actuating member, the gearing mechanism configured to transmit drive to the actuating member.

4. The module according to claim 1 , further comprising an end cap, and wherein the sleeve is sealingly engaged with the end cap such that the end cap, the sleeve and the carrier define the sealed volume.

5. The module according to claim 1 , wherein the motors are arranged adjacent to each other and in an opposed orientation.

6. The module according to claim 1 , wherein each carrier defines a receiving formation shaped to at least partially receive the associated motor, and wherein the receiving formation defines the longitudinal axis.

7. The module according to claim 6 , wherein each receiving formation is shaped to at least partially receive a further motor arranged in an opposed orientation to the motor.

8. The module according to claim 1 , wherein each of the sleeve and each carrier defines a complementary bayonet fitting configured to engage the sleeve and carriers.

9. The module according to claim 8 , wherein one of the sleeve and each carrier defines a male connector, and the other defines a female connector,

wherein the male connector has a flange defining a free end and a plurality of mating surfaces facing away from the free end, and

the female connector defines an aperture defining an open end and dimensioned to at least partially receive the flange, and further defines a plurality of complementary mating surfaces facing away from the open end,

whereby arranging the mating surfaces of the male connector against the mating surfaces of the female connector frictionally engages the sleeve and the carrier.

10. The module according to claim 9 , further comprising a compression member arranged about the male connector such that the compression member is compressed between the sleeve and the associated carrier when the sleeve frictionally engages the carrier.

11. The module according to claim 10 , wherein each mating surface is defined by a radially extending protrusion, and wherein each protrusion extending from the male connector is shaped to at least partially receive one of the protrusions extending from the female connector.

12. A modular robotic system comprising at least two modules, each module comprising:

at least one actuator mechanism, each actuator mechanism comprising:

a motor having a drive shaft, the shaft defining an output axis, and a body extending away from the shaft, the body defining a maximum width dimension orthogonal to the output axis;

a carrier configured to be secured to the motor, the carrier defining a longitudinal axis parallel to the output axis; and

an actuating member operatively connected to the shaft such that operation of the motor causes the actuating member to move relative to the carrier,

wherein the output axis is arranged offset from the longitudinal axis by at least half of the maximum width dimension; and

a sleeve sealingly engaged with each carrier, to define a sealed volume, the sleeve defining a further longitudinal axis arranged coaxially to the longitudinal axis of each carrier,

wherein the at least two modules are releasably connected to and sealingly engaged with each other, and wherein at least one of the actuators of the at least two modules is arranged such that operation of the at least one actuator moves one of the modules relative to another of the modules.

13. The modular system according to claim 12 , wherein one of the modules defines a male connector and another of the modules defines a female connector configured to at least partially receive and engage with the male connector, wherein one of the male connector and the female connector has a locking nut threadedly engaged with the associated connector and operable to urge the male connector and the female connector into engagement.

14. The modular system according to claim 13 , wherein each of the male connector and the female connector define a complementary bayonet fitting configured to engage the associated modules.

15. The modular system according to claim 14 , wherein the male connector has a flange defining a free end and a plurality of mating surfaces facing away from the free end, and

the female connector defines an aperture defining an open end and dimensioned to at least partially receive the flange, and further defining a plurality of complementary mating surfaces facing away from the open end,

whereby arranging the mating surfaces of the male connector against the mating surfaces of the female connector frictionally engages the associated modules.

16. The modular system according to claim 15 , wherein each mating surface is defined by a radially extending protrusion, and wherein each protrusion extending from the male connector is shaped to at least partially receive one of the protrusions extending from the female connector.

17. The modular system according to claim 12 , wherein each of the male connector and the female connector include an electrical connector.

18. The modular system according to claim 17 , wherein frictionally engaging the male connector and the female connector connects the electrical connectors such that, in use, at least one of power and data is communicated between the engaged modules.

19. The modular system according to claim 17 , wherein one of the electrical connectors includes a threaded shaft, and the other electrical connector includes a threaded nut whereby, in use, the nut threadedly engages the shaft to engage the electrical connectors so that at least one of power and data is communicated between the engaged modules.