Design of a programmable array manipulator

The Programmable Array Manipulator, or PAM, is a new technology designed to perform simultaneous manipulations on multiple objects. In its most primitive form, PAM is a matrix of actuators arranged in such a way that it may transport an object resting upon it. This transportation may be either a translation or a rotation. Such a device is currentiy under development at the University of WoUongong. The purpose of this thesis is to describe the methodology and implementation of the design factors associated with the prototype development of a PAM. Since PAM is a new device many issues need to be resolved Hiese issues include the control system design, the acmator hardware, the hardware to control the actuators and the sensor system required for object position and orientation feedback. The solutions to these issues form the basis of this thesis. The detailed design and the associated experimental verification is presented in full.