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IROS
2008
IEEE

Peltier-based freeze-thaw connector for waterborne self-assembly systems

10 years 3 months ago
Peltier-based freeze-thaw connector for waterborne self-assembly systems
Abstract— We present a novel type of inter-module connection mechanism for waterborne modular robotic systems. The proposed mechanism exploits the thermoelectric effect to cool down and freeze the water between two modules thus causes them to attach to each other. We validate the feasibility of this mechanism by embedding a Peltier heat pump (m = 0.8 g) in two types of cm scale self-assembly systems, one in which the modules are free to move and one in which the modules are linked together by hinges. Our experimental results demonstrate that the proposed Peltier-based connector has (a) a high bond strength/weight ratio for a rather large range of temperatures and (b) is rather robust against misalignments between docking modules, making it a useful alternative to current connection mechanisms for small scale low autonomy self-assembly systems.
Shuhei Miyashita, Flurin Casanova, Max Lungarella,
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Shuhei Miyashita, Flurin Casanova, Max Lungarella, Rolf Pfeifer
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