Automated Insertion of Objects Into an Acoustic Robotic Gripper
Automated Insertion of Objects Into an Acoustic Robotic Gripper
复制标题
自动将物体插入声学机器人夹具中
作者：
Marc Röthlisberger;M. Schuck;L. Kulmer;J. Kolar
声悬浮力可用于操纵小物体和液体，而无需机械接触或污染。为了将声悬浮用于非接触式机器人夹具，需要将物体自动插入声压场。这项工作提出了分析模型，基于该模型开发了受控对象插入的概念。实现了两个声学夹具原型并用于实验验证将物体提升到声场中。使用驻声波并通过动态调整声功率，演示了从声学透明表面提升高密度物体（> 7 g/cm3）。此外，不同声学陷阱的组合用于从声学反射表面提升低密度物体。所提供的结果为在机器人夹具中实现声悬浮开辟了新的可能性，这有可能用于各种工业应用。
Acoustic levitation forces can be used to manipulate small objects and liquid without mechanical contact or contamination. To use acoustic levitation for contactless robotic grippers, automated insertion of objects into the acoustic pressure field is necessary. This work presents analytical models based on which concepts for the controlled insertion of objects are developed. Two prototypes of acoustic grippers are implemented and used to experimentally verify the lifting of objects into the acoustic field. Using standing acoustic waves and by dynamically adjusting the acoustic power, the lifting of high-density objects (>7 g/cm3) from acoustically transparent surfaces is demonstrated. Moreover, a combination of different acoustic traps is used to lift lower-density objects from acoustically reflective surfaces. The provided results open up new possibilities for the implementation of acoustic levitation in robotic grippers, which have the potential to be used in a variety of industrial applications.
DOI：
10.1109/biorob49111.2020.9224384
发表时间：
2020-02
期刊：
2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
影响因子：
--
作者：
Jared Nakahara;Boling Yang;Joshua R. Smith
通讯作者：
Jared Nakahara;Boling Yang;Joshua R. Smith
影响因子：
1.6
作者：
Nordine, Paul C.;Merkley, Dennis;Prieler, Robert
通讯作者：
Prieler, Robert