• adaptive surface
• friction field
• orientation
• sorting
• under-actuated

In this report is described the design and the development of a new under-actuated sorting and orientation system.
Initially, before the study of the actual device, is reported the path followed to chose him, with the documentation, concept and ranking stages.
After these first steps, the analysis is dedicated to the development of the selected concept, which is an under actuated modular system, in order to create an intelligent surface for sorting.
The study, associated with tests, pretotypes and prototypes creation, aimed at the hardware design and the simulation of the surface functioning.
Therefore, the main part of the text is focused in the explanation and the report of these realizations and the ideas behind them.