Suspended-Fabric Robotic Manipulation Surfaces: Modelling, Design Space, and Multimodular Extensio

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Robotic Manipulation Surfaces (RMS) reposition objects by deforming the surface on which they rest. A recent class of RMS suspends a continuous fabric sheet from a sparse grid of vertical linear actuators lowering the actuator density of such surfaces but how to design such surfaces so that objects can be controlled everywhere on it, and how to extend it beyond a single module so that objects can pass between modules and achieve parallel, remain open. This paper presents a separable catenary model of the suspended sheet that is fast to compute and provides both the surface shape for given actuator heights and the actuator heights for a desired local slope. The closed form inverse lets a simple PID controller position objects on the sheet, and the model relates fabric length, module span and actuator stroke to the reachable workspace, yielding a minimum fabric length bound and design charts for these surfaces. The approach is then extended to a multimodular platform in which neighbouring modules share actuators. On a $2 \times 2$ prototype, we demonstrate that centimetre-scale objects are transferred between modules and positioned within 0.03 m over a $1 m^2$ workspace with only nine actuators, enabling multi-object manipulation and opening the way to parallel manipulation.

Links and sources

• Official / arXiv page
• PDF from original source

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