Abstract:
Soft robotics is a rapidly developing field. This thesis details the modelling and construction of a soft robotic table/surface made from arrays of coupled bre-reinforced silicone actuators. Soft silicone actuators are used in many soft robots. In this project, soft actuators were used to create a compliant, deformable, 2D surface. The topology of this surface can be manipulated to provide controlled support and positioning of objects on that surface. This was done by coupling multiple soft fibre-reinforced actuators in a parallel arrangement. The effect of this coupling was explored in this project by means of computational models and physical 1D and a 2D arrays of soft silicone actuators. The output of this project was the creation of a 1D and a 2D array of soft actuators which can translate, rotate, and roll objects resting on the surface.
