A tapping micropositioning cell

Describes the use of tapping actuators in a "micropositioning cell." Tapping actuators are fixed (both in position and orientation) about the perimeter of the cell. A part in the cell can be precisely positioned by firing a sequence of tapping actuators (sensing the position of the object after each tap for feedback control). Such a system could be used for micropositioning tasks or in parts feeding applications. We show the controllability of this system for circular parts, describe an algorithm to position these objects, and present the results of simulated experiments. We conclude with some future directions and address the issues in extending this work to more efficient algorithms that work on a broader class of parts.

[1]  Toshiro Higuchi,et al.  A micropositioning device for precision automatic assembly using impact force of piezoelectric elements , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[2]  Kevin M. Lynch,et al.  Planar Manipulation on a Conveyor with a One Joint Robot , 1996 .

[3]  Ken Goldberg,et al.  Sensorless Manipulation Using Transverse Vibrations of a Plate , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[4]  Matthew T. Mason,et al.  Mechanics, Planning, and Control for Tapping , 1998, Int. J. Robotics Res..

[5]  Matthew T. Mason,et al.  Experiments in impulsive manipulation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

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

[7]  Toshiro Higuchi,et al.  Application of Electromagnetic Impulsive Force to Precise Positioning , 1987 .

[8]  Dan Reznik,et al.  The Coulomb pump: a novel parts feeding method using a horizontally-vibrating surface , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[9]  K. Vøyenli,et al.  On the motion of an ice hockey puck , 1985 .

[10]  A. Ruina,et al.  Planar sliding with dry friction Part 1. Limit surface and moment function , 1991 .

[11]  A. Ruina,et al.  Planar sliding with dry friction Part 2. Dynamics of motion , 1991 .

[12]  M. T. Mason,et al.  Two-Dimensional Rigid-Body Collisions With Friction , 1992 .