Module with direct actuation system

In order to cope with the issues arisen by analysing the first version of the system presented in Chap. 5, a new version of the module has been designed and it will be described in this chapter. It will be based on direct actuation of the joints. Furthermore, we will describe the introduction of an important feature as the possibility to regulate in real time the nominal distance between the modules. This feature allows the control sectors to slide on the strip, thus increasing the performances of the whole system. In this chapter we will also describe the kinematic analysis that have been performed, the design of the components and the developed prototype so as to to evaluate the pros and the limits of this implemented solution. Eventually, we will describe the developed control process, which allows to perform the rendering of virtual surfaces.