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RattleSnake : stochastic folding for chain programmable matter

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dc.contributor.advisor Neil Gershenfeld. en_US Lobovsky, Maxim B en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Architecture. Program in Media Arts and Sciences. en_US 2012-03-16T16:04:35Z 2012-03-16T16:04:35Z 2011 en_US 2011 en_US
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2011. en_US
dc.description Cataloged from PDF version of thesis. en_US
dc.description Includes bibliographical references (p. 57-59). en_US
dc.description.abstract The vision of programmable matter is to create a blob of material that can transform itself into an arbitrary form. One promising approach for achieving programmable matter is to construct a chain of identical nodes that can fold into arbitrary threedimensional shapes. Previous active electromechanical systems have demonstrated this concept but are currently costly, complex, and not robust enough to scale to smaller sizes or larger numbers of nodes. The goal of this thesis is to explore methods of simplifying chain programmable matter by removing the actuator from each node and, instead, putting energy into the system externally through stochastic vibrations. Each node takes this random energy input and rectifies it to produce motion towards the target position. We propose two variants of this system: 1) smart clutches that can be reprogrammed in situ and fold through arbitrary paths in configuration space and 2) ratchets that are programmed ahead of time and are entirely passive. We developed a chain using the ratchet concept and also constructed a new active, electromechanical chain with reduced cost and improved speed and torque compared to previous electromechanical systems. Through experimental and computer simulated studies, we determined that stochastic actuation can simplify and reduce the cost of these systems. We have also identified how the size of the increments of the ratchet, length of the chain, and the amplitude and frequency of agitation affect the folding time and success rate. In addition, we show that passive folding systems should improve in performance as the hardware scales down. en_US
dc.description.statementofresponsibility by Maxim B. Lobovsky. en_US
dc.format.extent 59 p. en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.rights.uri en_US
dc.subject Architecture. Program in Media Arts and Sciences. en_US
dc.title RattleSnake : stochastic folding for chain programmable matter en_US
dc.title.alternative Rattle snake en_US
dc.title.alternative Stochastic folding for chain programmable matter en_US
dc.type Thesis en_US S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Architecture. Program in Media Arts and Sciences. en_US
dc.identifier.oclc 777964190 en_US

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