Upper and Lower Bounds for Programmable Vector Fields with Applications to MEMS and Vibratory Plate Parts Feeders

Programmable vector elds can be used to control a variety of exible planar parts feeders. These devices can exploit exotic actuation technologies such as arrayed, massively-parallel microfabricated motion pixels or transversely vibrating (macroscopic) plates. These new automation designs promise great exibility, speed, and dexterity|we believe they may be employed to orient, singulate, sort, feed, and assemble parts. However, since they have only recently been invented, programming and controlling them for manipulation tasks is challenging. When a part is placed on our devices, the programmed vector eld induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. By chaining together sequences of vector elds, the equilibrium states of a part in the eld may be cascaded to obtain a desired nal state. The resulting strategies require no sensing and enjoy e cient planning algorithms.

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