Vibration-induced frictional force fields on a rigid plate

Thomas H. Vose*, Paul Umbanhowar, Kevin M. Lynch

*Corresponding author for this work

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

27 Scopus citations

Abstract

By vibrating a rigid plate with up to six degrees of freedom, we can create a large family of programmable frictional force fields acting on parts resting on the plate. These fields can be used for sensorless part orientation, uncertainty-reducing transport, and simultaneous manipulation of multiple parts. The principle is demonstrated by a plate rotating about an axis below the plate. Simple oscillatory rotation produces a squeeze field that attracts and aligns parts along a center line. This behavior is confirmed in experiment. Motivated by this experimental confirmation, we use a simulation to find plate motions that yield a number of other useful primitive force fields. By sequencing these force fields, we can create any force field that is a convex combination of the primitives.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages660-667
Number of pages8
DOIs
StatePublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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