{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/129283"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/129283","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Assembly of slender modules for robotic multi-functionality and adaptive re-configurability","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_has_math":false,"creators":["Guo, Jiamiao"],"institution":"University of Illinois Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Gazzola, Mattia"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-05-06","date_published":"2025-05-06","updated_at":"2026-07-22T22:25:04Z","subjects":["Soft Robot","Modular Design","Slender Modules"],"languages":["en","eng"],"rights":["Copyright 2025 Jiamiao Guo"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/129283","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Gazzola, Mattia"]},{"key":"dc:creator","label":"Author","values":["Guo, Jiamiao"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-05-06","2025-05"]},{"key":"dc:type","label":"Dc Type","values":["text","Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Soft Robot","Modular Design","Slender Modules"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2025 Jiamiao Guo"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/129283"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","The student, Jiamiao Guo, accepted the attached license on 2025-04-29 at 17:27.","The student, Jiamiao Guo, submitted this Thesis for approval on 2025-04-29 at 17:34.","This Thesis was approved for publication on 2025-05-06 at 16:38.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22100 on 2025-10-19 at 18:11:19","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."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Assembly of slender modules for robotic multi-functionality and adaptive re-configurability"]}]}],"canonical_facts":{"dc:contributor":["Gazzola, Mattia"],"dc:creator":["Guo, Jiamiao"],"dc:date":["2025-05-06","2025-05"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","The student, Jiamiao Guo, accepted the attached license on 2025-04-29 at 17:27.","The student, Jiamiao Guo, submitted this Thesis for approval on 2025-04-29 at 17:34.","This Thesis was approved for publication on 2025-05-06 at 16:38.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22100 on 2025-10-19 at 18:11:19","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."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/129283"],"dc:language":["en","eng"],"dc:rights":["Copyright 2025 Jiamiao Guo"],"dc:subject":["Soft Robot","Modular Design","Slender Modules"],"dc:title":["Assembly of slender modules for robotic multi-functionality and adaptive re-configurability"],"dc:type":["text","Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:04Z"}