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Presentation, modeling and experiments of an electrostatic actuator based catom for programmable matter

Catry, Romain and Mohand-Ousaid, Abdenbi and Rakotondrabe, Micky and Lutz, Philippe Presentation, modeling and experiments of an electrostatic actuator based catom for programmable matter. (2020) MDPI Actuators. Special Issue Miniature and Micro-Actuators, 9 (2). 1-14.

(Document in English)

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Official URL: https://doi.org/10.3390/act9020043


Nowadays, the concept of programmable matter paves the way for promising applications such as reshaping an object to test different configurations, modeling or rapid prototyping. Based on elementary modules, such matter can be arranged and disassembled easily according to the needs of the designers. Several solutions have been proposed to implement this concept. Most of them are based on modular self-reconfigurable robotics (SMR) that can work together and move relatively to one another in order to change their configuration. Achieving such behavior requires to solve some technological challenges in particular module’s geometry and actuation. In this paper, we build and develop a proof of concept for a catom based on electrostatic actuation. The modeling and analysis of the actuator functioning as catom is given after a comparison of various possible actuation. Simulations as well as experiments validations are afterwards carried out to confirm and demons

Item Type:Article
Additional Information:© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
HAL Id:hal-03120200
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Other partners > Ecole Nationale Supérieure de Mécanique et des Microtechniques - ENSMM (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Other partners > Université de Franche-Comté (FRANCE)
Other partners > Université de Technologie de Belfort-Montbéliard - UTBM (FRANCE)
Other partners > Université Bourgogne Franche-Comté - UBFC (FRANCE)
Laboratory name:
Deposited On:12 Jan 2021 10:14

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