Assembly of slender modules for robotic multi-functionality and adaptive re-configurability

Slender and flexible mechanisms, widely observed in biological and natural systems, have inspired significant developments in soft robotics, enabling functionalities such as snake-like locomotion, adaptive grasping, and octopus-arm-like dexterity. Although these advances have demonstrated considerable potential in a variety of applications, current systems often encounter critical limitations in terms of mechanical durability and task versatility. These challenges primarily stem from the degradation of polymer-based materials and the inherent constraints imposed by task-specific designs. In response to these issues, this work proposes a novel modular design framework for soft, slender pneumatic actuators, in which functional components are designed to be interchangeable. This modularity addresses two essential demands: (i) enhanced adaptability for multi-purpose use through rapid reconfiguration, and (ii) enhanced system maintainability through the localized replacement of malfunctioning or task-specific modules, minimizing downtime and repair complexity. By introducing a partially automated modularization approach based on standardized mechanical interfaces, the proposed framework not only accelerates the prototyping process but also significantly improves the environmental adaptability of soft robots by enabling the flexible assembly of specialized modules for diverse operational contexts. Furthermore, the ability to isolate and replace defective components in a straightforward and low-cost manner enhances the overall maintainability of the system, contributing to improved efficiency, scalability, and long-term deployment in real-world scenarios.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois Urbana-Champaign

Year dc:date

2025

Author dc:creator

• Guo, Jiamiao

Contributors dc:contributor

• Gazzola, Mattia

• Soft Robot
• Modular Design
• Slender Modules

Statement dc:rights

• Copyright 2025 Jiamiao Guo

Language dc:language

en, eng

Handle dc:identifier

https://hdl.handle.net/2142/129283

OAI record oai:identifier

https://www.ideals.illinois.edu/oai-pmh?verb=GetRecord&metadataPrefix=etdms&identifier=oai%3Awww.ideals.illinois.edu%3A2142%2F129283