DYNAMIC MODEL OF TENDON-DRIVEN ROBOTIC CHAINS FORMING A SHAPE-SHIFTING SURFACE

Matteo Lasagni, Kay Uwe Römer

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

Abstract

This paper presents Kinematics and Dynamics of a Shape-
Shifting Surface, a robotic system able to take on the shape of
arbitrary connected 3D surfaces. Such a surface, which we introduced
and described in previous work, consists of piecewise
controllable chains in turn composed of serially connected foldable
“robotic particles”. Aiming at a high resolution rendering,
where tiny particles need to be combined in a large number, a
tendon-driven design is a lightweight and scalable solution.
However, improper actuation strategies might expose the
system to undesired forces, which can compromise its integrity
and stability. To tackle this problem, optimal actuation and planning
strategies are required to anticipate unacceptable situations.
To this end, a dynamic model is derived to predict the reaction
of the system subject to control actions. Being the system
both tendon-driven and under-actuated, we have to overcome a
number of challenges in deriving this model.
Original languageEnglish
Title of host publicationASME International Conference on Smart Materials, Adaptive Structures and Intelligent Systems
PublisherAmerican Society of Mechanical Engineers(ASME)
Publication statusPublished - 2016
EventConference on Smart Materials, Adaptive Structures and Intelligent Systems - Stowe Vermont, Stowe, United States
Duration: 28 Sep 201630 Sep 2016
Conference number: 9
http://www.asmeconferences.org/SMASIS2016/ConfSpecInfo.cfm

Conference

ConferenceConference on Smart Materials, Adaptive Structures and Intelligent Systems
Abbreviated titleSMASIS
CountryUnited States
CityStowe
Period28/09/1630/09/16
Internet address

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Keywords

  • Programmable Matter
  • Shape-Shifting Surface
  • Modeling
  • Dynamics

Cite this

Lasagni, M., & Römer, K. U. (2016). DYNAMIC MODEL OF TENDON-DRIVEN ROBOTIC CHAINS FORMING A SHAPE-SHIFTING SURFACE. In ASME International Conference on Smart Materials, Adaptive Structures and Intelligent Systems American Society of Mechanical Engineers(ASME).