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http://dx.doi.org/10.5302/J.ICROS.2006.12.11.1111

Sensorless Vibratory Orienting of Small Polygonal Parts  

Han, In-Hwan (홍익대학교 기계정보공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.11, 2006 , pp. 1111-1118 More about this Journal
Abstract
This paper covers topics related to the investigations for the problem of sensorless vibratory orienting of polygonal parts with high probability through dynamic simulation. The author's program for mechanical systems with changing topologies was experimentally validated and was used as a simulation and design tool for motion behaviors of the vibratory parts-orienting system in the dynamic environment. A flat level vibrating bar is proposed as a means of orienting parts. Dynamic manipulation, in which a part is repeatedly caught and tossed by the bar without sensing, forms the fundamental manipulation strategy. This paper presents how to plan vibratory manipulation strategies that can orient a small rigid polygonal part using interaction between the part and the vibrating bar without requiring sensing. The planned motion strategies have been experimentally validated to show how the dynamic simulation can be used to find favorable vibration parameters for a given part without knowledge of their initial orientations.
Keywords
sensorless orienting; vibrating bar; dynamic manipulation; motion strategy;
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Times Cited By KSCI : 1  (Citation Analysis)
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