Abstract
An investigation of noncontact manipulation techniques based on acoustic levitation was undertaken in air. The standing wave acoustic levitation (SWAL) was observed when standing waves trap small objects at pressure nodes. In this paper, two ultrasonic bolt-clamped Langevin type transducers (BLTs) generating traveling waves by modulating parameters of the two traveling waves were used to manipulate a trapped object. Frequency, amplitude, and phase modulations of the two actuators were exploited. From simulation and experiments, the phase modulation was prominent among other methods due to its long range and smooth operation. It is also found that angles between two actuators affect the trajectory of the trapped object during the parameter modulations. Sinusoidal and elliptic paths of the object were observed experimentally through a combination of parameters at certain tilt angles.
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