Toward the set of frictional velocity fields generable by 6-degree-of-freedom oscillatory motion of a rigid plate
Toward the set of frictional velocity fields generable by 6-degree-of-freedom oscillatory motion of a rigid plate
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刚性板 6 自由度振荡运动产生的一组摩擦速度场
DOI：
10.1109/robot.2010.5509340
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发表时间：
2010
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
一个与位置相关的渐近速度场描述了点部件在刚性振动板表面上带摩擦滑动的运动。这些字段可用于执行操作任务，例如同时对一个或多个零件进行无传感器定位。本文研究了由周期性板运动M产生的场F的集合，所述周期性板运动M结合了单个面内分量和单个面外分量，所述面内分量和面外分量具有具有50%占空比的方波加速度，相同的周期，以及它们之间的任意相位。通过将全映射M → F分解为三个简单的映射，我们揭示了F的结构及其与M的关系。为了说明这一点，我们着重于M中特定的板块运动，这些板块运动产生的场可以很好地近似为n ≤ 2次的位置多项式函数。数值模拟表明，由具有多个平面内和平面外分量（均具有相同的周期和方波加速度）的板块运动产生的场可以很好地近似为F中场的线性组合。
A position-dependent asymptotic velocity field describes the motion of point parts sliding with friction on the surface of a rigid oscillating plate. These fields can be used to perform manipulation tasks such as sensorless positioning of one or several parts simultaneously. This paper examines the set of fields F generated by periodic plate motions M that combine a single in-plane component and a single out-of-plane component that have square wave accelerations with 50% duty cycles, identical periods, and an arbitrary phase between them. By deconstructing the full map ŏ :M→F into three simpler maps, we expose the structure of F and its relationship to M. To illustrate, we focus on particular plate motions in M that generate fields well approximated by polynomial functions of position with degree n ≤ 2. Numerical simulations suggest that fields generated from plate motions with more than a single inplane and a single out-of-plane component (all with the same period and square wave accelerations) are well approximated by linear combinations of fields in F.