Abstract:
An array of devices connected to each other, in a grid or other fashion, which are able to adjust their position and/or orientation relative to one another, in order to alter the overall structure that the devices form. Also, a controller that can determine this structure from data provided by the devices, and tell each device what relative position and orientation it should be in so that the overall structure changes to some other desired shape.

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     This invention relates to tools. 
     2. Related Art 
     The number and variety of tools that have been made and used is beyond count and many tools are best suited for a particular purpose or job. A hammer is better suited to pounding nails than a screwdriver, and turning screws is difficult with a hammer&#39;s claw. 
     Unfortunately, many modern tasks can not be accomplished with just one tool. Assembling simple pre-fabricated fixtures often requires both a hammer and a screwdriver. Building furniture from lumber may require a hammer, a saw, a measuring tape, and some way to record and mark appropriate lengths. 
     Some tasks require instruments that are unique to the task. These tools can be expensive and hard to find. Many tasks require tools that are similar to others, but sufficiently different that attempting to use the same tool for both tasks is impracticable—for example, turning a flat head screw with a phillips head screwdriver. 
     Often, the only solution is to purchase a tool for each required purpose. Some tools may be unique, so that the user must have one specially made. There have been many attempts to solve these problems. A first known solution is to create drills with modular heads, and rapid prototyping for tools no one has yet built. 
     While this does assist in solving the problems associated with the plethora of available tools, all have required at least one physical token for each tool required. 
     A second known solution is the attempt to make single tools that are physically adjustable to each task for example, wrenches with gears that can be turned by hand to adjust their size, or multiple tools combined into a single unit like a Swiss army knife. 
     While these types of tools can provide more than one configuration they suffer from severe drawbacks. First, these tools have a preset number of forms, all of which must be designed before the tool is built and purchased. Second, these tools require the user to manipulate the tool until it is in the desired shape. 
     Accordingly, it would be desirable to provide a technique for dynamically configuring tools that are not subject to the limitations of the known art. 
     SUMMARY OF THE INVENTION 
     The invention provides an array of panel components able to move themselves relative to each other, along with a computer controller to coordinate this movement. The array can assume practically any form allowing it to function as many different tools. Once a tool is created in the array, its form may be stored and recalled for later use, thus entire lists of selectable tools may be created. 
     Each panel component is connected to other panel components by connectors attached to ball joints at each panel component. Each panel component is associated with a processor that receives positioning data from sensors located at each ball joint. Positioning data are sent to and from the controller such that motors may control the position of each ball joint and the relative position of each panel component. 
     A “limp mode” is provided so an operator may manually adjust the panel components to a desired form and then record the configuration for later use. A user interface is also provided at the controller to allow the user to select predefined array configurations. 
     With the help of computer aided design, professional tool makers may prototype new tools without the expense of creating molds or carving a sample out of blocks of wood, metal, or plastic. New tools may be tested simply by configuring an array into whatever shape is desired and storing that shape in the array&#39;s controller. Anyone with an array but without the appropriate structure on hand may obtain the data necessary to program the array from another party. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 shows a block diagram of a system for a programmable shape array. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     In the following description, a preferred embodiment of the invention is described with regard to preferred process steps and data structures. Those skilled in the art would recognize after perusal of this application that embodiments of the invention can be implemented using one or more general purpose processors or special purpose processors or other circuits adapted to particular process steps and data structures described herein, and that implementation of the process steps and data structures described herein would not require undue experimentation or further invention. 
     System Elements 
     FIG. 1 shows a block diagram of a system for a programmable shape array. 
     A system  100  includes a plurality of panel components  110  and a controller  120 . 
     Each panel component  110  includes a plurality of joints  111 , a plurality of connectors  113 , a plurality of motors  115 , a processor  117 , and a data bus  119 . 
     The plurality of joints  111  include a plurality of rotatable joints. Each joint  111  includes a sensor  112  (not shown but understood by those skilled in the art) capable of determining the angle at which a connector  113  is directed. In a preferred embodiment, the plurality of joints  111  are ball sockets. There is no requirement that the plurality of joints  111  are ball sockets, and hinges and other similar elements may be used. 
     In a preferred embodiment, the plurality of connectors  113  include connectors of sufficient length to connect from one joint  111  to another joint  111 . In an alternative embodiment one joint  111  may connect directly to another joint  111  without the use of a connector  113 . 
     In a preferred embodiment, the plurality of motors  115  include a plurality of electric motors (not shown but understood by those skilled in the art). There is no requirement that electric motors be used. Other types of powered motors and magnetos may be used. In a preferred embodiment, each joint  111  has one of the plurality of motors  115  controlling it. Each of the plurality of motors  115  is preferably contained within a respective joint  111  or within relatively close proximity to a joint  111 . 
     A processor  117  includes an integrated circuit (not shown but understood by those skilled in the art) capable of receiving data from a sensor  112 . 
     The controller  120  includes a processor, a main memory, and software for executing instructions (not shown, but understood by those skilled in the art). This software preferably includes software for managing elements in the system  100  in accordance to the invention and further explained below. The controller  120  may include a palm top computer or other computing device. 
     The data bus  119  allows data from the sensors  112  to be transmitted to and from the controller  120  via the processor  117 . 
     Array Configuration 
     Panel components  110  are arranged as an array such that they are interconnected. 
     In an alternative embodiment, panel components  110  may possess voltage sensors for a voltmeter that once attached to one end of a standard sized component to be measured can automatically attach itself to the other end. 
     In a third embodiment, an array may be a three dimensional lattice of cubes or pyramids with single variable-length connectors, or a long string that doubles back and wraps around itself to adjust its width and depth. The components do not need to be exact copies of each another. Furthermore, the components do not need to have the same set of connections, and they may be dynamically linked and de-linked with components that become neighbors through shape changes. 
     System Operation 
     For each configuration of the programmable array, the controller  120  sends positioning data to each processor  120  whose panel component  110  must be moved. The positioning data is passed by the processor  117  to the sensors  112  at the joints  111 , and the motors  115  move the joints  111  so that the connectors  113  are at the angle designated by the positioning data. 
     New configurations may be programmed at the controller  120  by entering new positioning data in the form of angles for the joint  111 /connector  113  assembly. A “limp mode” is also provided such that each panel component can be manually positioned to conform to a configuration desired by an operator. The “limp mode” may be used in conjunction with an already defined configuration for modification purposes. Position data derived from the “limp mode” may be saved by the controller and recalled at another time to recreate the configuration. 
     Each panel component of an array needs only to know where it must be relative to its neighbors. For example, if each of thirteen panel components  110  in a line turn 7.5 degrees on the same axis relative to adjacent panel components  110 , that results in 12 * 2 * 7.5=180 degrees (12 connections between thirteen components in a row; each connection has 2 ends; each end turns 7.5 degrees), thus turning a straight line back on itself a short distance away. If the individual components are small enough, this will be just a line, which ends as far as any significantly larger system is concerned. For example, if the components are 0.1 millimeter cubes, several lines next to each other making 180 degree turns as described above can form a flat head screwdriver&#39;s end and fit within a 1 millimeter gap in a screw head. 
     Generality of the Invention 
     The invention has applicability and generality to applications including research and development of tools and other static devices. 
     Alternative Embodiments 
     although preferred embodiments are disclosed herein, many variations are possible which remain within the concept, scope, and spirit of the invention, and these variations would become clear to those skilled in the art after perusal of this application.