Abstract
Currently used nonprehensile manipulation systems that are based on vibrational techniques employ temporal (vibrational) asymmetry, spatial asymmetry, or force asymmetry to provide and control a directional motion of a body. This paper presents a novel method of nonprehensile manipulation of miniature and microminiature bodies on a harmonically oscillating platform by creating a frictional asymmetry through dynamic dry friction control. To theoretically verify the feasibility of the method and to determine the control parameters that define the motion characteristics, a mathematical model was developed, and modeling was carried out. Experimental setups for miniature and microminiature bodies were developed for nonprehensile manipulation by dry friction control, and manipulation experiments were carried out to experimentally verify the feasibility of the proposed method and theoretical findings. By revealing how characteristic control parameters influence the direction and velocity, the modeling results theoretically verified the feasibility of the proposed method. The experimental investigation verified that the proposed method is technically feasible and can be applied in practice, as well as confirmed the theoretical findings that the velocity and direction of the body can be controlled by changing the parameters of the function for dynamic dry friction control. The presented research enriches the classical theories of manipulation methods on vibrating plates and platforms, as well as the presented results, are relevant for industries dealing with feeding, assembling, or manipulation of miniature and microminiature bodies.
Highlights
Used nonprehensile manipulation systems that are based on vibrational techniques employ temporal asymmetry, spatial asymmetry, or force asymmetry to provide and control a directional motion of a body
This paper presents a novel method of nonprehensile manipulation of miniature and microminiature bodies on a harmonically oscillating platform by creating a frictional asymmetry through dynamic dry friction control
When φ was 3π/4, 〈v〉 was increasing until λ reached 3π/4, and started to decrease (Figure 8b). This observed nature corresponds to the theoretical findings that λ is associated with the level of frictional asymmetry, and this parameter defines the average velocity of the body
Summary
Used nonprehensile manipulation systems that are based on vibrational techniques employ temporal (vibrational) asymmetry, spatial asymmetry, or force asymmetry to provide and control a directional motion of a body. Experimental setups for miniature and microminiature bodies were developed for nonprehensile manipulation by dry friction control, and manipulation experiments were carried out to experimentally verify the feasibility of the proposed method and theoretical findings. Prehensile techniques such as picking always have some mechanical effect on the body; besides, due to various shapes of the miniature and microminiature bodies being manipulated or assembled, microgrippers must be changed frequently when pick and place operations are used These methods still struggle with precise force feedback at the micro scales and are suited for manipulations with individual bodies. Three structural materials (polylactic acid, acrylonitrile butadiene styrene, and polyethylene terephthalate glycol) were used for manufacturing the proposed micropositioner It can be integrated into a microgripper to have a complete manipulation system that delivers larger displacements than most other commercial solutions. Sun et al [12] proposed an equal-stiffness and equal-stroke 2D micropositioning small size platform driven by piezoelectric actuators adopting two hourglass displacement magnification mechanisms based on the static stiffness analysis and simulation analysis of the micropositioning platform
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