用柔性连接的模块化机器人阵列，低密度也能精准操控小物体。
Scalable Low-Density Distributed Manipulation Using an Interconnected Actuator Array
- 模块化3自由度机器人通过柔性层连接，形成连续可操控表面。
- 在2×2原型上实现对多形状物体的任意位置移动，最小间距仍有效。
- 适合需要低成本、低密度但高灵活性操控的场景。
分布式机械手系统通常依赖密集排列的执行器来操控小型物体。本文提出一种由模块化3自由度机器人单元通过柔顺表层互联构成的系统，形成连续且可调控的操控表面。该柔顺层允许增大执行器间距而不影响操控能力，显著降低执行器密度，同时保持对小型物体的稳定控制。我们分析了阵列的耦合工作空间，并设计了一种能够在N×N阵列内将物体移动至任意位置的操控策略。实验验证使用最小2×2原型，成功实现了对多种形状和尺寸物体的操控。
原文摘要 · Abstract (English)
Distributed Manipulator Systems, composed of arrays of robotic actuators necessitate dense actuator arrays to effectively manipulate small objects. This paper presents a system composed of modular 3-DoF robotic tiles interconnected by a compliant surface layer, forming a continuous, controllable manipulation surface. The compliant layer permits increased actuator spacing without compromising object manipulation capabilities, significantly reducing actuator density while maintaining robust control, even for smaller objects. We characterize the coupled workspace of the array and develop a manipulation strategy capable of translating objects to arbitrary positions within an N X N array. The approach is validated experimentally using a minimal 2 X 2 prototype, demonstrating the successful manipulation of objects with varied shapes and sizes.
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