Mechatronics Design, Modeling, and Characterization of a Soft Robotic Table for Object Manipulation on Surface

摘要

This paper presents the mechatronics design, modeling, and characterization of a soft robotic table inspired by caterpillar locomotion. The table is capable of manipulating objects on the XY-horizontal plane through surface deformations. The full realization of the table system including its actuation system, pneumatic system, electrical system, and user interface is discussed. The analytical modeling of these systems is explained. A design technique for the table is presented where its performance can be tuned by modifying its parameters via finite element analysis. The characteristics of the soft table are evaluated in terms of its hardware capabilities and object manipulation capabilities. These are important for the development of the table's control system. The key functional and operational parameters of the table such as the maximum object load, operational speed, and power consumptions are discussed. Experiments are conducted on three distinct objects to analyze the performance of object movement. Object transportability is analyzed based on the object's shape, size, and weight. The unique features of the table including the intrinsic soft handling of objects and simultaneous multiple object manipulation are validated. The soft table in action of various object manipulations can be viewed in the video supplied.