The following figure shows the AirTied device. Its central element is a mechanism that allows it to “bookmark” and tie tube segments.
AirTied achieves this with the help of two major functional groups. We reveal them by removing the tube unroller, i.e., two actuated rubber rollers that the spool rests on. (b) Group 1: A set of (here, five) bookmarking slots are organized in a rotationally symmetric arrangement around the perimeter of the device. Each slot features a lock, i.e., asmall servo-actuated lever that allows fixating the tube in the slot. (c) Group 2: The rotary mechanism rotates the components located at the center of the device, i.e., the tube unroller, the tube pusher, and the wire tie gun.