Dynamic Endpoint Object Conveyance Using a Large-Scale Actuator Network

TL;DR

This paper presents a morphing surface using a large-scale actuator network for distributed object conveyance, overcoming single DOF limitations and enabling complex topographies for industrial manipulation tasks.

Contribution

It introduces a novel morphing surface design with derived kinematic constraints, validated through simulation and practical experiments, enhancing distributed manipulation capabilities.

Findings

The morphing surface can convey multiple objects simultaneously.

The derived constraints optimize actuator alignment for effective shape transformation.

Practical results show advantages over static feeders in object conveyance.

Abstract

Large-Scale Actuator Networks (LSAN) are a rapidly growing class of electromechanical systems. A prime application of LSANs in the industrial sector is distributed manipulation. LSAN's are typically implemented using: vibrating plates, air jets, and mobile multi-robot teams. This paper investigates a surface capable of morphing its shape using an array of linear actuators to impose two dimensional translational movement on a set of objects. The collective nature of the actuator network overcomes the limitations of the single Degree of Freedom (DOF) manipulators, and forms a complex topography to convey multiple objects to a reference location. A derivation of the kinematic constraints and limitations of an arbitrary multi-cell surface is provided. These limitations determine the allowable actuator alignments when configuring the surface. A fusion of simulation and practical results demonstrate the advantages of using this technology over static feeders.