Experiments in the use of stable limits sets for parts handling

Todd David Murphey*, David Choi, Jay Bernheisel, Kevin M Lynch

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

Throwing and catching parts promises to be a powerful manipulation technique, but is analytically complicated by equations of motion involving friction and impacts. Traditional control techniques would suggest that one should directly consider the equations of motion and design inputs that produce a unique fixed point. Such analysis can be anywhere from tedious to intractable. However, one can show that some simple part manipulators exhibit limit set behavior, where the parts enter a set that is invariant under the mapping that corresponds to the throwing action. We show here that analyzing limit sets rather than the equations of motion provides a more user friendly method of analysis, yielding tractable methods for understanding and designing pan manipulators. These methods are additionally related to the study of self-assembly, and we are able to "nearly" self-assemble parts. In particular, we use a experimental setup to investigate methods to throw parts into a stable assembly using binary feedback.

Original languageEnglish (US)
Title of host publicationProceedings - 2004 International Conference on MEMS, NANO and Smart Systems, ICMENS 2004
EditorsW. Badawy, W. Moussa
Pages218-224
Number of pages7
StatePublished - Dec 1 2004
EventProceedings - 2004 International Conference on MEMS, NANO and Smart Systems, ICMENS 2004 - Banff, Alta., Canada
Duration: Aug 25 2004Aug 27 2004

Other

OtherProceedings - 2004 International Conference on MEMS, NANO and Smart Systems, ICMENS 2004
CountryCanada
CityBanff, Alta.
Period8/25/048/27/04

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Murphey, T. D., Choi, D., Bernheisel, J., & Lynch, K. M. (2004). Experiments in the use of stable limits sets for parts handling. In W. Badawy, & W. Moussa (Eds.), Proceedings - 2004 International Conference on MEMS, NANO and Smart Systems, ICMENS 2004 (pp. 218-224)