Analysis of the positioning process of objects on an oblique plane with barriers

Abstract

The paper presents a model of the positioning process of cuboidal objects on an oblique plane with barriers, caused by the interaction of inertia, gravity and contact forces. In this model, the contact area of the object base with the bearing planes is represented by evenly spaced discrete elements and the corners and edges of the object identify the contact with the positioning barriers. The object performs free spatial movement and may be in simultaneous contact with many bearing surfaces with different frictional properties. The static Bengisu-Akay friction model represents tangent contact forces, and the nonlinear Kelvin collision model describes normal forces. Due to high sliding velocities, the Stribeck's effect in the friction model does not have a significant impact on the course of the positioning process, hence it was assumed that the static and kinetic friction coefficients are equal to each other. Moreover, on the basis of the conducted analyses of the results of numerical and experimental tests, a geometrical configuration of the positioning barriers was proposed, allowing the object to be intercepted on an oblique plane and placed on the outfeed conveyor.