Stable transport of assemblies: Pushing stacked parts

Jay D. Bernheisel; Kevin M. Lynch

doi:10.1109/TASE.2004.835575

Stable transport of assemblies: Pushing stacked parts

Jay D. Bernheisel^*, Kevin M. Lynch

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

This paper presents a method to determine stable pushing motions for a planar stack of polygonal parts. The approach consists of solving a series of subproblems where each part in the stack is pushing the parts ahead of it The solutions to these subproblems are sets of stable motions, and their intersection is the set of stable motions for the entire stack. The motion of multiple parts depends on the exact locations of the centers of mass and the relative masses of the parts. If either or both of these is unknown, it is still possible to calculate a conservative set of motions guaranteed to be stable by using a center of mass uncertainty region. Local-local controllability is also analyzed for single parts and stacks of parts with uncertain centers of mass.

Original language	English (US)
Pages (from-to)	163-168
Number of pages	6
Journal	IEEE Transactions on Automation Science and Engineering
Volume	1
Issue number	2
DOIs	https://doi.org/10.1109/TASE.2004.835575
State	Published - Oct 2004

Keywords

Local controllability
Planar assemblies
Planar stacks
Stable pushing
Stable transport of assemblies
Uncertainty

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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title = "Stable transport of assemblies: Pushing stacked parts",

abstract = "This paper presents a method to determine stable pushing motions for a planar stack of polygonal parts. The approach consists of solving a series of subproblems where each part in the stack is pushing the parts ahead of it The solutions to these subproblems are sets of stable motions, and their intersection is the set of stable motions for the entire stack. The motion of multiple parts depends on the exact locations of the centers of mass and the relative masses of the parts. If either or both of these is unknown, it is still possible to calculate a conservative set of motions guaranteed to be stable by using a center of mass uncertainty region. Local-local controllability is also analyzed for single parts and stacks of parts with uncertain centers of mass.",

keywords = "Local controllability, Planar assemblies, Planar stacks, Stable pushing, Stable transport of assemblies, Uncertainty",

author = "Bernheisel, {Jay D.} and Lynch, {Kevin M.}",

note = "Funding Information: Manuscript received November 28, 2002; revised May 30, 2003. This paper was recommended for publication by Associate Editor K. Goldberg and Editor I. Walker upon evaluation of the reviewers{\textquoteright} comments. This work was supported by the National Science Foundation under Grant IIS-9875469 and Grant IIS-0082957.",

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N2 - This paper presents a method to determine stable pushing motions for a planar stack of polygonal parts. The approach consists of solving a series of subproblems where each part in the stack is pushing the parts ahead of it The solutions to these subproblems are sets of stable motions, and their intersection is the set of stable motions for the entire stack. The motion of multiple parts depends on the exact locations of the centers of mass and the relative masses of the parts. If either or both of these is unknown, it is still possible to calculate a conservative set of motions guaranteed to be stable by using a center of mass uncertainty region. Local-local controllability is also analyzed for single parts and stacks of parts with uncertain centers of mass.

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Stable transport of assemblies: Pushing stacked parts

Abstract

Keywords

ASJC Scopus subject areas

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