Suspended-Fabric Robotic Manipulation Surfaces: Modelling, Design Space, and Multimodular Extension
Suspended-Fabric Robotic Manipulation Surfaces: Modelling, Design Space, and Multimodular Extensio
This research presents a separable catenary model for suspended-fabric robotic manipulation surfaces (RMS) that enables object positioning via simple PID control. The study demonstrates a multimodular prototype transferring centimeter-scale objects within 0.03 m accuracy over a 1 m² workspace using nine actuators, validating the approach for multi-object and parallel manipulation tasks.
The paper introduces a separable catenary model for suspended-fabric robotic manipulation surfaces (RMS) that enables object positioning via simple PID control and demonstrates a multimodular prototype transferring centimeter-scale objects within 0.03 m accuracy over a 1 m² workspace using nine actuators.
Source: arXiv Robotics — research abstracts · Read original article ↗
Loading article text…
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
positioning accuracy
0.03
View original evidence
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,
Open source S4workspace area
1
View original evidence
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,
Open source S4
- paper: not_reported
What remains unknown
Not established in the collected evidence: Environment, Control, Data origin.
Reported performance applies to the described task. It does not establish general autonomy or deployment readiness.
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
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,
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org