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

@article{Miyashita2008PeltierbasedFC,
  title={Peltier-based freeze-thaw connector for waterborne self-assembly systems},
  author={Shuhei Miyashita and Flurin Casanova and Max Lungarella and Rolf Pfeifer},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={1325-1330}
}
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… CONTINUE READING

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