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In this paper, we conceptualize, analyze, and assemble a prototype adaptive surface system capable of morphing its geometric configuration using an array of linear actuators to impose omnidirectional movement of objects that lie on the surface. The principal focus and contribution of this paper is the derivation of feedback control protocols–for regulating the actuators’ length in order to accomplish the object conveyance task–that scale with the number of actuators and the nonlinear kinematic constraints of the morphing surface. Simulations and experimental results demonstrate the advantages of distributed manipulation over static-shaped feeders.

A class of cyber-physical systems that is gradually attracting increased scientific attention is Large-Scale Actuator Networks (LSAN). A prospective application of actuator networks is distributed manipulation. Distributed manipulation has the potential to become a game-changing technology in the area of industrial automation. To examine this class of systems, this paper presents a reactive elastic surface that autonomously morphs its shape by using a grid of linear actuators to transport an object into a target location. The combined action of the actuator grid overcomes the limitations of individual actuators, resulting in a system with multiple degrees-of-freedom. Experimental results illustrate the applicability of the platform.

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The field of Large-Scale Actuator Networks (LSANs) is a class of cyber-physical systems that is growing rapidly. One key application of LSANs is distributed manipulation. Distributed manipulation has the potential to become a game-changing technology in the area of industrial automation. Examples of distributed manipulation include: vibrating plates, arrays of air jets, and mobile multi-robot teams. This paper explores a dynamic surface that changes its shape by using an autonomous array of linear actuators to transport an object to a reference location. This collective of actuators overcomes the limitations of each individual actuator, and results in a system multiple degrees of freedom. Experimental results illustrate the applicability of the platform.