Design and Development of a Hybrid X-Y Peristaltic Table

Abstract

A demand on soft body robotic becomes widely needed especially in industrial sectors to accomplish rotational of a variety of organic matter. The inaccuracy of the classical robots in handling of many organic objects such as fruits or eggs in production lines has triggered the need for soft body robotics. Over the past years, there has been the large scale production of robots that work better with inorganic matter and are less detailed in their mechanical and software design. In this thesis, we introduce a hybrid robotic prototype (X-Y peristaltic table) combining soft and hard robotics techniques with cutting-edge design in its physical stature, so as to control its 25 motors and to be autonomous. The design procedure will involve, a four-layered prototype, stepper motors as linear actuators, a layer of platinum catalysed silicone as the third layer (soft material), and , finally, the last layer mounted parallel to the top layer where it allows it to detect the table clearly. It will identify objects and send their location to the micro-controller, which will cause the actuators relocate something on the table. We expect the final results for this prototype to help further advanced industrial projects depending on their requirements enhance mass production, in industries such as the ovine offal industry.