Contactless manipulation of an object on a plane surface using multiple air jets
Contactless manipulation of an object on a plane surface using multiple air jets
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使用多个空气喷射对平面上的物体进行非接触式操纵
DOI：
10.1109/icra.2011.5979879
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
Minoru Kobayashi
中科院分区：
文献类型：
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作者：
S. Iwaki;Hiroshi Morimasa;T. Noritsugu;Minoru Kobayashi
我们提出了一种在大范围内以非接触式方式操纵对象的位置和方向的技术。这项技术涉及多个喷射器，从不同方向向物体喷射压缩空气。通过调节喷气方向和流量，可以主动地对物体进行力封闭，并且可以自由地操纵物体的位置和方向。作为这项研究的第一步，在本文中，我们讨论了该方法的技术挑战。接下来，我们对采用连续和脉宽调制空气喷射方法的单自由度平面实验系统进行了初步研究。在此基础上，我们研究了使用三个空气喷嘴来控制圆柱体在两个平面自由度中的位置的有关问题。
We propose a technology for manipulating the position and orientation of an object in a contactless manner over an extended range. This technology involves multiple ejectors that stream jets of compressed air onto an object from various directions. By regulating the air jet directions and flow rates, the object can be actively “force closured” and its position and orientation can be manipulated freely. As the first step of this research, in this paper, we discuss technological challenges for this method. Next we provide a preliminary investigation with one degree-of-freedom planar experimental system using a continuous and a PWM air jet ejection method. Based on this investigation, we examine problems relating to the use of three air nozzles to control the position of a cylindrical object in two degrees of planar freedom.