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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >A Novel Soft Machine Table for Manipulation of Delicate Objects Inspired by Caterpillar Locomotion
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A Novel Soft Machine Table for Manipulation of Delicate Objects Inspired by Caterpillar Locomotion

机译：一种新颖的软机工作台，用于处理由卡特彼勒运动启发的精致物体

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摘要

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.
机译：本文介绍了一种柔软的XY机床工作台，其灵感来自于毛毛虫的运动。所提出的桌子能够通过软表面上的变形以三个自由度操纵物体。表面的柔软性使桌子能够处理诸如食品和工业组件之类的易碎物品而不会损坏它们。一种新颖的物体操纵方法是受到毛虫爬行步态中前腿运动的启发。桌子的致动系统的原型已经设计和制造。我们的实验结果证明，工作台能够在平移和旋转方向上移动对象。这验证了开发的操纵概念，并表明完成了运输扁平物体的艰巨任务。开发了表面变形的表示方法，以帮助将来对物理系统进行建模和控制。

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