Abstract
The majority of the industrial material handling mechanisms used in the manipulation or assembly of mesoscale objects are slow and require precision programming and tooling, mainly because they are based on sequential robotic pick-n-place operations. This paper presents problem formation, modeling, and analysis of a sensorless parallel manipulation technique for mimicking real-systems that transfer mesoscale objects based on the vibration of inline-feeder machines. Unlike common stick-slip models that utilize a “mass-on-moving-belt” and avoid totality of the motion, the research obtains differential equations in order to describe the combined physics of stick-slip dynamics of an object traveling along an oscillating platform under smooth and dry friction conditions. The nonlinear dynamics are solved numerically to explain the effect of system parameters on the stick-slip motion. The research provides empirical models based on frequency-analysis identification to describe the total linear speed of an object to an input force. The results are illustrated and tested by time–response, phase plots, and amplitude response diagrams, which compare very favorably with results obtained by numerical simulation of the equation of motion, and this suggests that the vibration of the platform is independent of stick-slip motion when the mass of the object being transported is small relative to the mass of the system.
Highlights
Spatial manipulation of objects is of such ubiquitous utility that it is currently in indispensable use in a wide range of areas including industry, research, space, biology, medicine etc
Inline tracking feeders utilize sensorless horizontal vibration to feed particles at a desired total speed where its motion could be analyzed based on incremental dry friction stick-slip principle generated at Robotics 2020, 9, 86; doi:10.3390/robotics9040086
This paper developed a model for vibration assisted manipulation techniques to move pre-oriented and singulated meso-scale objects in a linear direction, escorting them from a vibratory or centrifugal feeder into the intended final position through subsequent stick-slip motions
Summary
Spatial manipulation of objects is of such ubiquitous utility that it is currently in indispensable use in a wide range of areas including industry, research, space, biology, medicine etc. Stick-slip mechanism requires precise control of the force being applied on the particle such that its value is below the static friction force when the oscillating plane motion is directed along the feed direction. The inline feeder system discussed in this research is an industrialized one dimensional deterministic micromanipulation based on the utility of lateral vibration. Researchers attempted to study two dimensional deterministic micromanipulation based on programmable force fields induced by actuator array or transverse vibration [33,34]. In both methods, the distribution of small particles demonstrated different results as frequencies and amplitudes were varied.
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