Dynamic end target part conveyance using an autonomous morphing surface

Large-Scale Actuator Networks (LSANs) are a rapidly growing class of electro-mechanical systems. A prime implementation of LSANs in the industrial sector is distributed manipulation. Some distributed manipulators include: vibrating plates, arrays of air jets, and mobile multi-robot teams. This paper examines an autonomous morphing surface that reconfigures itself using an array of linear actuators to translate an object. The cooperative behavior of the network outweighs the limitations of the individual single Degree of Freedom (DOF) actuators, allowing the mechanism to form complex configurations to convey the object. A detailed derivation of the kinematics and limitations of an arbitrary multi-cell surface is given. The allowable actuators alignments of the LSAN determine the available control resources and the total DOF of the surface. Simulation results combined with the actual implementation to the prototype illustrate the advantage of this technology over standard static feeders.