Towards soft self-reconfigurable robots

Modular self-reconfigurable robots have previously demonstrated that automatic control of their own body shapes enriches their behavioural functions. However, having predefined rigid modules technically limits real-world systems from being hyper-redundant and compliant. Encouraged by recent progress using elastically deformable material for robots, we propose the concept of soft self-reconfigurable robots which may become hyper-flexible during interaction with the environment. As the first attempt towards this goal, the paper proposes a novel approach using viscoelastic material Hot-Melt Adhesives (HMAs): for physical connection and disconnection control between bodies that are not necessarily predefined rigid modules. We present a model that characterizes the temperature dependency of the strength of HMA bonds, which is then validated and used in a feedback controller for automatic connection and disconnection. Using a minimalistic robot platform that is equipped with two devices handling HMAs, the performance of this method is evaluated in a pick-and-place experiment with aluminium and wooden parts. © 2012 IEEE.

Characterization of a liquid crystal microlens array using multiwalled carbon nanotube electrodes.

Reconfigurable liquid crystal microlenses employing arrays of multiwalled carbon nanotubes (MWNTs) have been designed and fabricated. The cells consist of arrays of 2 microm high MWNTs grown by plasma-enhanced chemical vapor deposition on silicon with a top electrode of indium tin oxide coated glass positioned 20 microm above the silicon and the gap filled with the nematic liquid crystal BLO48. Simulations have found that, while its nematic liquid crystal aligns with MWNTs within a distance of 10nm, this distance is greatly enhanced by the application of an external electric field. Polarized light experiments show that light is focused with focal lengths ranging from approximately 7 microm to 12 microm.

Transparent liquid-crystal-based microlens array using vertically aligned carbon nanofiber electrodes on quartz substrates.

A novel transparent liquid-crystal-based microlens array has been fabricated using an array of vertically aligned multi-wall carbon nanofibers (MWCNFs) on a quartz substrate and its optical characteristics investigated. Electron beam lithography was used for the catalyst patterning on a quartz substrate to grow the MWCNF array of electrodes. The structure of the electrode array was determined through simulation to achieve the best optical performance. Both the patterned catalyst and growth parameters were optimized for optimal MWCNF properties. We report an in-depth optical characterization of these reconfigurable hybrid liquid crystal and nanofiber microlens arrays.

Refractive index evaluation of multi-walled carbon nanotube arrays

Transmission terahertz time-domain spectroscopy (THz-TDS) measurements of carbon nanotube arrays are presented. A relatively thin film with vertically aligned multi-walled carbon nanotubes has been prepared and measured using THz-TDS. Experimental results were obtained from 80GHz to 2.5THz, and the sample has been characterized by extracting the relative permittivity of the carbon nanotubes. A combination of the Maxwell-Garnett and Drude models within the frequency range provide a good fit to the measured permittivity.

A tool for assessing reconfigurability of distributed manufacturing systems

In recent years, a large number of approaches to developing distributed manufacturing systems has been proposed. One of the principles reasons for these development has been to enhance the reconfigurability of a manufacturing operation; allowing it to readily adapt to changes over time. However, to date, there has only been a limited assessment of the resulting reconfigurability properties and hence it remains inconclusive as to whether a distributed manufacturing system design approach does in fact improve reconfigurability. This paper represents part of a study which investigates this issue. It proposes an assessment tool - the so called "Design Structure Matrix" as a means of assessing the modularity of elements in a manufacturing system. (Modularity has been shown to be a key characteristic of a reconfigurable manufacturing system.) The use of the Design Structure Matrix is illustrated in assessing a robot assembly cell designed on distributed manufacturing system principles. Copyright © 2006 IFAC.