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Suspended-Fabric Robotic Manipulation Surfaces: Modelling, Design Space, and Multimodular Extensio — arXiv:2610.41982

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.41982
License (as archived): CC0-1.0
Archived: 2026-11-02T08:04:37.075Z
SHA-256 of the archived text: 77832aed65b28b7596269d07a609c7aa7dd9e703ccb6809e76970227a93a58ff
Stable URL of this page: https://metraipolis.com/documento/dc_299bd86253eb

How to cite

Suspended-Fabric Robotic Manipulation Surfaces: Modelling, Design Space, and Multimodular Extensio — arXiv:2610.41982 — arXiv (en), https://arxiv.org/abs/2610.41982 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_299bd86253eb (Metraipolis archive dc_299bd86253eb, sha256 77832aed65b28b7596269d07a609c7aa7dd9e703ccb6809e76970227a93a58ff)

BibTeX

@misc{dc299bd86253eb,
  title = {Suspended-Fabric Robotic Manipulation Surfaces: Modelling, Design Space, and Multimodular Extensio — arXiv:2610.41982},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.41982},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_299bd86253eb; sha256 77832aed65b28b7596269d07a609c7aa7dd9e703ccb6809e76970227a93a58ff},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.41982. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

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.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2610.41982 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-02T07:44:15.725Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).