Contact-less Manipulation of Millimeter-scale Objects via Ultrasonic Levitation
Contact-less Manipulation of Millimeter-scale Objects via Ultrasonic Levitation
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DOI：
10.1109/biorob49111.2020.9224384
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发表时间：
2020-02
期刊：
影响因子：
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通讯作者：
Jared Nakahara;Boling Yang;Joshua R. Smith
中科院分区：
文献类型：
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作者：
Jared Nakahara;Boling Yang;Joshua R. Smith
尽管通用机器人操纵器越来越有能力操纵各种物体，但它们的操纵毫米尺度的物体的能力通常受到限制，但已显示超声波悬浮设备可以升华。生物有机体。在目标对象上执行的力量。可以通过任何通用机器人臂固定或拾取的操作装置，从而使毫米尺度的操作几乎没有对机器人本身进行修改能够在准确的反射表面上执行第一个相控制的采摘动作，并在目标物体周围放置操纵器，操纵器可以抓住小于机器人的位置不确定性的尺寸并且，由于基于超声的抓地力的无接触性，右花芽像花芽一样，敏捷地握住了一个小的物体。对象没有阻塞，支持准确的视觉特征提取。
Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually limited. On the other hand, ultrasonic levitation devices have been shown to levitate a large range of small objects, from polystyrene balls to living organisms. By controlling the acoustic force fields, ultrasonic levitation devices can compensate for robot manipulator positioning uncertainty and control the grasping force exerted on the target object. The material agnostic nature of acoustic levitation devices and their ability to dexterously manipulate millimeter-scale objects make them appealing as a grasping mode for general purpose robots. In this work, we present an ultrasonic, contact-less manipulation device that can be attached to or picked up by any general purpose robotic arm, enabling millimeter-scale manipulation with little to no modification to the robot itself. This device is capable of performing the very first phase-controlled picking action on acoustically reflective surfaces. With the manipulator placed around the target object, the manipulator can grasp objects smaller in size than the robot’s positioning uncertainty, trap the object to resist air currents during robot movement, and dexterously hold a small and fragile object, like a flower bud. Due to the contact-less nature of the ultrasound-based gripper, a camera positioned to look into the cylinder can inspect the object without occlusion, facilitating accurate visual feature extraction.