Simultaneous Planar Transport of Multiple Objects on Individual Trajectories Using Friction Forces
Simultaneous Planar Transport of Multiple Objects on Individual Trajectories Using Friction Forces
复制标题
利用摩擦力在单个轨迹上同时平面传输多个物体
DOI：
10.1007/978-1-4615-4545-3_3
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
L. Ruf
中科院分区：
文献类型：
--
作者：
P. Frei;M. Wiesendanger;Roland Buechi;L. Ruf
摩擦力可以通过以两个自由度振动平面来沿平面水平表面移动物体。本文提出的方法利用水平和垂直振动的组合来产生非零的摩擦力合力。利用这一原理，物体可以沿任意水平方向以不同的速度移动，如果多个小的表面单元彼此并排形成一个阵列，就可以同时在各个轨迹上独立移动多个物体。表面单元的二维振动可以分解为所有表面的共同水平运动和单独的垂直振动。因此，每个阵元只需要一个普通的执行器来产生表面的水平运动，而对于垂直运动，只需要一个具有一个自由度的执行器，开环和闭环控制策略都是可能的。使用适当的力场允许在没有位置反馈的情况下对物体进行定位。然而，可实现的轨迹受到阵列单元的尺寸和几何形状的限制。使用位置反馈，多个对象可以在任意轨迹上移动，只要它们彼此之间不太近。
Friction forces can be used to move objects along a planar horizontal surface by vibrating the surface with two degrees of freedom. The method presented here uses a combination of horizontal and vertical oscillations to produce a non-zero resultant friction force. Using this principle, objects can be moved along any horizontal direction with variable speed.If many small surface elements are placed next to each other to form an array, moving multiple objects independently on individual trajectories at the same time is possible. The two-dimensional oscillations of the surface elements can be separated into a common horizontal motion of all surfaces and an individual vertical vibration. Therefore, one common actuator is used to create the horizontal motion of the surfaces and for the vertical motion only one actuator with one degree of freedom is needed for each array element.Both open loop and closed loop control strategies are possible. The use of appropriate force fields allow the positioning of objects without position feedback. The trajectories achievable are however limited by the dimensions and the geometry of the array cells. Using position feedback, multiple objects can travel on arbitrary trajectories as long as they are not too close to each other.