Vibration-Induced Frictional Force Fields on a Rigid Plate
Vibration-Induced Frictional Force Fields on a Rigid Plate
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刚性板上振动引起的摩擦力场
DOI：
10.1109/robot.2007.363062
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
K. Lynch
中科院分区：
文献类型：
--
作者：
Thomas H. Vose;P. Umbanhowar;K. Lynch
通过振动多达六个自由度的刚性板，我们可以创建一系列作用于板上零件的可编程摩擦力场。这些场可用于无传感器零件定向、减少不确定性的运输以及多个零件的同时操纵。通过围绕板下方的轴旋转的板来演示该原理。简单的振荡旋转会产生挤压场，沿着中心线吸引并对齐零件。这种行为在实验中得到了证实。受这一实验证实的启发，我们使用模拟来寻找板块运动，从而产生许多其他有用的原始力场。通过对这些力场进行排序，我们可以创建任何作为图元凸组合的力场。
By vibrating a rigid plate with up to six degrees of freedom, we can create a large family of programmable frictional force fields acting on parts resting on the plate. These fields can be used for sensorless part orientation, uncertainty-reducing transport, and simultaneous manipulation of multiple parts. The principle is demonstrated by a plate rotating about an axis below the plate. Simple oscillatory rotation produces a squeeze field that attracts and aligns parts along a center line. This behavior is confirmed in experiment. Motivated by this experimental confirmation, we use a simulation to find plate motions that yield a number of other useful primitive force fields. By sequencing these force fields, we can create any force field that is a convex combination of the primitives.