Mutual positioning of the being assembled cylindrical parts under controlled dry friction

Applied for automated assembly the displacement of the part under controlled dry friction is analyzed. The paper deals with vibrational non - impact displacement of a mobile - based body when the body is subjected to kinematical excitement. Based on a simplified dynamic model of vibratory displacement under controlled dry friction the areas of the system and excitation parameters sets exist with different motion regimes and when controlling dry friction at particular time intervals. There were formed dependencies of vibratory displacement from dynamic system and excitation parameters. Based on performed part–to–part positioning analysis were designed schemas of vibratory assembly devices under controlled of the dry friction those may be used for joining of the cylindrical part

Mutual positioning of the being assembled cylindrical parts under controlled dry friction

Applied for automated assembly the displacement of the part under controlled dry friction is analyzed. The paper deals with vibrational non - impact displacement of a mobile - based body when the body is subjected to kinematical excitement. Based on a simplified dynamic model of vibratory displacement under controlled dry friction the areas of the system and excitation parameters sets exist with different motion regimes and when controlling dry friction at particular time intervals. There were formed dependencies of vibratory displacement from dynamic system and excitation parameters. Based on performed part–to–part positioning analysis were designed schemas of vibratory assembly devices under controlled of the dry friction those may be used for joining of the cylindrical part

Mutual positioning of the being assembled cylindrical parts under controlled dry friction

Applied for automated assembly the displacement of the part under controlled dry friction is analyzed. The paper deals with vibrational non - impact displacement of a mobile - based body when the body is subjected to kinematical excitement. Based on a simplified dynamic model of vibratory displacement under controlled dry friction the areas of the system and excitation parameters sets exist with different motion regimes and when controlling dry friction at particular time intervals. There were formed dependencies of vibratory displacement from dynamic system and excitation parameters. Based on performed part–to–part positioning analysis were designed schemas of vibratory assembly devices under controlled of the dry friction those may be used for joining of the cylindrical part

Global stability for distributed systems with changing contact states

Analyzes the global stability of distributed manipulation control schemes. The "programmable vector field" approach, which assumes that the system's control actions can be approximated by a continuous vector force field, is a commonly proposed scheme for distributed manipulation control. In practical implementations, the continuous control force field idealization must then be adapted to the specifics of the discrete physical actuator array. However, in Murphey and Burdick (2001) it was shown that when one takes into account the discreteness of actuator arrays and realistic models of the actuator/object contact mechanics, the controls designed by the continuous approximation approach can be unstable at the desired equilibrium configuration. We introduced a discontinuous feedback law that locally stabilizes the manipulated object at the equilibrium. However, the stability of this feedback law only holds in a neighborhood of the equilibrium. In this paper we show how to combine the programmable vector field approach and our local feedback stabilization law to achieve a globally stable distributed manipulation control system. Simulations illustrate the method

A Geometric Approach to Designing a Programmable Force Field with a Unique Stable Equilibrium for Parts in the Plane

In automated assembly, before parts can be put together, they often have to be appropriately oriented and positioned. The device performing this task is generally referred to as a part feeder. A new class of devices for non-prehensile distributed manipulation, such as MEMS actuator arrays, vibrating plates, etc., provide an alternative to traditional mechanical platforms for part feeding. These devices can be abstracted as programmable vector fields. Manipulation plans for these devices can therefore be considered as strategies for applying a sequence of fields to bring parts to some desired configurations. Typically, to uniquely orient and position a part, several fields have to be sequentially employed. Recently, it has been proven that there exists a combination of the unit radial field and a constant field that induces a unique stable equilibrium for almost any part. However, that work focuses mainly on an existential proof and fails to address how to compute the field for a given part. We propose in this paper a radically different field with a proof confirming that the field induces a unique stable equilibrium for almost any part. This proof leads us to a method for computing a single field for orienting a given part, together with the corresponding stable equilibrium configuration of the part