A Novel Soft Machine Table for Manipulation of Delicate Objects Inspired by Caterpillar Locomotion

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dc.contributor.author Deng, Zhicong en
dc.contributor.author Stommel, M en
dc.contributor.author Xu, Weiliang en
dc.date.accessioned 2016-09-21T05:41:58Z en
dc.date.issued 2016-06 en
dc.identifier.citation IEEE/ASME Transactions on Mechatronics 21(3):1702-1710 Jun 2016 en
dc.identifier.issn 1083-4435 en
dc.identifier.uri http://hdl.handle.net/2292/30451 en
dc.description.abstract This paper presents a soft XY machine table inspired by the locomotion of the caterpillar. The proposed table is capable of manipulating objects in three degrees of freedom through the deformation on the soft surface. The softness of the surface enables the table to handle delicate objects such as food products and industry components without damaging them. A novel object manipulation method is inspired by the proleg movement seen in the caterpillar's crawling gait. A prototype of the table's actuation system has been designed and fabricated. Our experimental results prove that the table is able to move an object in both translational and rotational direction. This validates the manipulation concept developed and shows that the challenging task of transporting flat objects is accomplished. A representation method for surface deformation is developed to aid the modeling and control of the physical system in the future. en
dc.publisher IEEE en
dc.relation.ispartofseries IEEE/ASME Transactions on Mechatronics en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm en
dc.title A Novel Soft Machine Table for Manipulation of Delicate Objects Inspired by Caterpillar Locomotion en
dc.type Journal Article en
dc.identifier.doi 10.1109/TMECH.2016.2519333 en
pubs.issue 3 en
pubs.begin-page 1702 en
pubs.volume 21 en
pubs.end-page 1710 en
pubs.publication-status Published en
dc.rights.accessrights http://purl.org/eprint/accessRights/RestrictedAccess en
pubs.subtype Article en
pubs.elements-id 538830 en
pubs.org-id Engineering en
pubs.org-id Mechanical Engineering en
dc.identifier.eissn 1941-014X en
pubs.record-created-at-source-date 2016-09-21 en

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