0

Full Content is available to subscribers

Subscribe/Learn More  >

A Toolchain for the Design and Simulation of Foldable Programmable Matter

[+] Author Affiliations
Steven R. Gray, Jungwon Seo, Paul J. White, Nathan J. Zeichner, Mark Yim, Vijay Kumar

University of Pennsylvania, Philadelphia, PA

Paper No. DETC2010-28838, pp. 1167-1176; 10 pages
doi:10.1115/DETC2010-28838
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

This paper presents a toolchain for the design and simulation of reconfigurable robots that can be built from a single rigid sheet of smart material with embedded actuators and sensors along regular crease patterns. We call such sheets Foldable Programmable Matter (FPM ). The toolchain we have created comprises an editor for drafting or modifying FPM , including locations and angles for folds. Algorithms for generating a class of folding structures are available for use. Also included is a dynamic simulation of the fold process, which provides collision detection and visualization. Thus our Foldable Programmable Matter Editor allows us to synthesize and design FPMs and simulate them in a virtual environment before committing to manufacture. The toolchain also incorporates a method of strength analysis, which is used to determine the suitability of a folded shape for specific loadings. Examples are shown for each subsection, including a beam example spanning the toolchain.

Copyright © 2010 by ASME
Topics: Matter , Simulation , Design

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In