Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes

Abstract

Abstract The paper concerns modelling of the angular positioning process of cuboidal objects by means of a system of two oblique friction force fields generated by conveyor belts located on parallel planes. The novelty of the research is discretization of the deformable contact surface of the object base with the friction force fields and the use of oblique infeed conveyors with two variants of inputs: angular and straight. It was assumed that the object, while moving between oblique conveyors at different heights, performs a 3D movement. The object is treated as a rigid body with a soft base, edges and corners that can be subjected to significant local deformations. A modified nonlinear Kelvin model was used to describe the normal reaction forces at the contact points of the object with the bearing surfaces of the conveyors, and the static Bengisu-Akay friction model represents the tangential forces. Research shows that the use of a slight offset between the bearing surfaces of the conveyors and the highest possible proportion between the motion velocities of the infeed and outfeed conveyors have positive effect on improving the angular precision of the positioned objects. The results of the research have practical application in the design of high-performance conveyor transport systems, used in the processes of picking cuboidal objects, requiring a strictly defined angular orientation.