Blades for feeding 3D parts on vibratory tracks

Purpose – Proposes a simple bowl feeder primitive, consisting of one horizontally mounted convex polygonal metal “blade” that can feed a broad class of three‐dimensional polyhedral parts by reorienting and rejecting all but those in a desired orientation. Owing to its simplicity, the proposed primitive allows for the development of methods to automate its design process.Design/methodology/approach – Presents a computational geometric approach to construct the solution space for a given part and then use this space to report all designs that feed the part.Findings – Given a polyhedral part and its center of mass as input, the complete algorithm identifies all single blade solutions that feed the part. The output is either the set of all valid blade designs or a notification that the part cannot be fed using a single blade.Research limitations/implications – Aims to take a first step in the design of complete algorithms for three‐dimensional parts in the context of vibratory bowls. Future research encompass...

[1]  Mark H. Overmars,et al.  Trap Design for Vibratory Bowl Feeders , 2001 .

[2]  Kenneth Y. Goldberg,et al.  Friction and part curvature in parallel- jaw grasping , 1995, J. Field Robotics.

[3]  Kenneth Y. Goldberg,et al.  Orienting polygonal parts without sensors , 1993, Algorithmica.

[4]  Jian Dai,et al.  Dynamics of Vibratory Bowl Feeders , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[5]  Mark de Berg,et al.  Computational geometry: algorithms and applications , 1997 .

[6]  Micha Sharir,et al.  Davenport-Schinzel sequences and their geometric applications , 1995, Handbook of Computational Geometry.

[7]  Balas K. Natarajan,et al.  Some Paradigms for the Automated Design of Parts Feeders , 1989, Int. J. Robotics Res..

[8]  Bruce Randall Donald,et al.  Algorithms for Sensorless Manipulation Using a Vibrating Surface , 2000, Algorithmica.

[9]  Matthew T. Mason,et al.  Mechanics of Robotic Manipulation , 2001 .

[10]  Mark H. Overmars,et al.  Algorithms for fence design , 1998 .

[11]  Michael Caine The design of shape interactions using motion constraints , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[12]  Ken Goldberg,et al.  A complete algorithm for designing passive fences to orient parts , 1997 .

[13]  Ken Goldberg,et al.  Optimal Curved Fences for Part Alignment on a Belt , 1995 .

[14]  Doug Ierardi,et al.  The complexity of oblivious plans for orienting and distinguishing polygonal parts , 2005, Algorithmica.

[15]  Randy C. Brost,et al.  Automatic Grasp Planning in the Presence of Uncertainty , 1988, Int. J. Robotics Res..

[16]  Mark H. Overmars,et al.  Orienting polyhedral parts by pushing , 2002, Comput. Geom..

[17]  Kevin M. Lynch,et al.  Parts Feeding on a Conveyor with a One Joint Robot , 2000, Algorithmica.

[18]  Gary P. Maul,et al.  A systems model and simulation of the vibratory bowl feeder , 1997 .

[19]  G. Boothroyd Product Design for High-Speed Automatic Assembly and Robot Assembly , 2005 .

[20]  Kenneth Y. Goldberg,et al.  On the design of guillotine traps for vibratory bowl feeders , 2005, IEEE International Conference on Automation Science and Engineering, 2005..

[21]  Matthew T. Mason,et al.  An exploration of sensorless manipulation , 1986, IEEE J. Robotics Autom..

[22]  Alan D. Christiansen,et al.  Automated design of part feeders using a genetic algorithm , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[23]  Bryan Kok Ann Ngoi,et al.  A computer-aided framework for the selection and sequencing of orientating devices for the vibratory bowl feeder , 1994 .

[24]  Arthur C. Sanderson,et al.  The motion of a pushed, sliding workpiece , 1988, IEEE J. Robotics Autom..

[25]  Kevin M. Lynch,et al.  Stable Pushing: Mechanics, Controllability, and Planning , 1995, Int. J. Robotics Res..

[26]  John F. Canny,et al.  Designing parts feeders using dynamic simulation , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[27]  Matthew T. Mason,et al.  Posing Polygonal Objects in the Plane by Pushing , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[28]  Mark H. Overmars,et al.  Computing fence designs for orienting parts , 1998, Comput. Geom..