Universal part manipulation in the plane with a single horizontally-vibrating plate
Universal part manipulation in the plane with a single horizontally-vibrating plate
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使用单个水平振动板在平面上进行通用零件操纵
DOI：
10.1201/9781439863886-8
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
J. Canny
中科院分区：
文献类型：
--
作者：
D. Reznik;J. Canny
活性表面可以操纵（即，平移、旋转）平面中的一个或多个零件，方法是在多个点上显示”任意力“。已经提出了许多基于微致动器的平行阵列的设计。对于这种“面向像素”的设备，每单位面积需要大密度的微致动器以获得可接受的力场可编程性;大量和小尺寸的移动部件使得这些设备难以制造、测试和维护。在这里，我们采取极简主义的方法，并寻找一个机械更简单，更坚固的设计，保留了相同的操纵灵活性。令人惊讶的是，我们表明，一个刚性的at板正是这样一个设备。即，可以计算板的闭合水平运动，其在一个或多个点处产生任意摩擦力（在运动上平均），使得一个或多个部件可以同时且独立地平移和/或旋转。分析了零件进给和零件操作的情况，沿着进行了动态仿真，并给出了样机的实验结果。
Active surfaces can manipulate (i.e., translate, rotate) one or more parts in the plane by \displaying" arbitrary forces at a number of points. Many designs have been proposed based on a massively-parallel array of microactuators. For such \pixel-oriented" devices, a large density of microactuators per unit area is required for acceptable force eld programmability; the large number and small size of moving parts renders these devices di cult to fabricate, test, and maintain. Here we take a minimalist approach and look for a mechanically simpler, sturdier design, which retains the same manipulation dexterity. Surprisingly, we show that a rigid at plate is just such a device. Namely, a closed, horizontal motion of the plate can be computed which yields arbitrary frictional forces (averaged over the motion) at one or more points, so that one or more parts can be translated and/or rotated simultaneously and independently. Analysis for both part feeding and part manipulation cases, along with dynamic simulation and experimental results with a prototype of the device are included.