NDLI: Part orientation with programmable vector fields: two stable equilibria for most parts

Content Provider	IEEE Xplore Digital Library
Author	Kavraki, L.E.
Copyright Year	1997
Description	Author affiliation: Dept. of Comput. Sci., Rice Univ., Houston, TX, USA (Kavraki, L.E.)
Abstract	Part manipulation is an important but also time-consuming operation in industrial automation. Recent work explores alternative solutions to the mechanical parts feeders which have been traditionally used to sort and orient parts for assembly. One of the proposed alternatives is the use of programmable vector fields. The fields are realized on a plane on which the part is placed. The forces exerted on the part's contact surface translate and rotate the part to an equilibrium orientation. Certain vector fields can be implemented in the microscale with actuator arrays and in the macroscale with transversely vibrating plates. Although current technology is still limited, the dexterity that programmable vector fields offer has prompted researchers to further explore their capabilities. This paper presents a vector field that can simultaneously orient and pose most parts into two stable equilibrium configurations. The equilibrium configurations are easily computed a priori given the part to be oriented. Our analysis makes no assumptions about the shape of the part or its connectivity except that it moves as a rigid body. The proposed vector field offers the great advantage of stability of the equilibrium configurations under small perturbations of the part which is key for the orientation of toleranced parts.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	2446
Ending Page	2451
File Size	655945
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619328
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Assembly Micromechanical devices Computer science Computer industry Shape Stability Manufacturing industries Manufacturing automation Filters Geometry
Content Type	Text
Resource Type	Article

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