A survey of non-prehensible pneumatic manipulation surfaces : principles, models and control.

International audienceMany manipulation systems using air flow have been proposed for object handling in a non-prehensile way and without solid-to-solid contact. Potential applications include high-speed transport of fragile and clean products and high-resolution positioning of thin delicate objects. This paper discusses a comprehensive survey of state-of-the-art pneumatic manipulation from the macro scale to the micro scale. The working principles and actuation methods of previously developed air-bearing surfaces, ultra-sonic bearing surfaces, air-flow manipulators, air-film manipulators, and tilted air-jet manipulators are reviewed with a particular emphasis on the modeling and the control issues. The performance of the previously developed devices are compared quantitatively and open problems in pneumatic manipulation are discussed

Terminal sliding mode control strategy design for second-order nonlinear system

This study mainly focuses on the terminal sliding mode control (TSMC) strategy design, including an adaptive terminal sliding mode control (ATSMC) and an exact-estimator-based terminal sliding mode control (ETSMC) for second-order nonlinear dynamical systems. In the ATSMC system, an adaptive bound estimation for the lump uncertainty is proposed to ensure the system stability. On the other hand, an exact estimator is designed for exact estimating system uncertainties to solve the trouble of chattering phenomena caused by a sign function in ATSMC law in despite of the utilization of a fixed value or an adaptive tuning algorithm for the lumped uncertainty bound. The effectiveness of the proposed control schemes can be verified in numerical simulations.<br /

System design of a high speed ground vehicle lifted by air bearings

In 2015, SpaceX announced an international competition for student teams to design and build prototype pods to compete on a one-mile test track at their HQ in Hawthorne, CA. The track would be contained in a partial vacuum tube, and student teams were given near free reign in their design and build process. Of considerable interest in Hyperloop development is what mechanism of lift it should use—magnetic levitation or air bearings. In this Thesis, a novel approach is taken to the system design of a pod capable of levitating itself with compressed air, or air bearings. By doing so, drag is essentially eliminated from the system, and the pod will be able to travel at very high speeds with little power requirements. Building a half-scale pod and testing it on the track is considered a feasible way to test air bearings at high velocities. Since that has never been done before, the main goal of this research is to design and build a pod capable of doing so, given the input parameters provided by SpaceX. The prototype pod detailed in this thesis has been designed and built, and will be tested on the SpaceX test track. A new air bearing design is proposed for future work. While the SpaceX competition gave motivation for this work, the research conducted in this thesis, including evaluation of various levitation and braking mechanisms, design methodology, and parameter design, are applicable to other engineering challenges.Mechanical Engineerin

Air levitated ball-pipe system: system modelling, linearization and controller design

[EN] The air levitated ball-pipe system is a pneumatic levitation system that is based on airflow. Its working principle consists of a force created with a blower with the purpose of counteracting the opposing gravitational force of the ball. A TOF sensor measures the position of the ball inside the pipe and a Raspberry Pi Zero manages the control of the system. This work performs a modelling process of the ball-pipe system, an analysis of its non-linearities and it presents a variety of controllers and observers such as a PID controller, a LQR controller and a Kalman filter

Suppression of Vortex Precession in a Non-Contact Handling Device by a Circular Column

Vortex levitation attains non-contact handling by injecting air through a tangential nozzle into a cylindrical cup generating the swirling flow. The precessing of the swirling flow causes pressure fluctuation. This phenomenon becomes apparent as the gap between the cup and workpiece increases, which significantly disturbs the stability of conveyance. In this paper, suppression of pressure fluctuation by a cylindrical column that stabilizes the vortex levitation is described and its mechanism is mentioned. According to the experimental set up, the pressure was measured at the center of the workpiece and the wall of the cup; velocity field under the work piece was visualized by PIV. The result suggested that the larger diameter column denoted the effect on suppression of the fluctuation because the precessing of the swirling flow became stable. On the other hand, variation of the column thickness had insignificant effect on suppressing the fluctuation, but sucking force became weakened since the swirling velocity decreased.ArticleJournal of Flow Control, Measurement & Visualization. 4:70-78 (2016)journal articl

Robust control of a planar manipulator for flexible and contactless handling

International audienceMany industries require non-contact and flexible manipulation systems, such as magnetic or pneumatic devices. In this paper, we describe a one-degree-of-freedom position control of an induced-air-flow surface. This device allows to convey objects on an air cushion using an original aerodynamic traction principle. A model of the system is established and the parameters are identified experimentally. A H1 robust controller is designed and implemented on the device in order to control the object position. Experiments with objects of various dimensions and materials are conducted and showed the robustness capabilities of the controller

2-DOF Contactless Distributed Manipulation Using Superposition of Induced Air Flows.

International audienceMany industries require contactless transport and positioning of delicate or clean objects such as silicon wafers, glass sheets, solar cell or flat foodstuffs. The authors have presented a new form of contactless distributed manipulation using induced air flow. Previous works concerned the evaluation of the maximal velocity of transported objects and one degreeof- freedom position control of objects. This paper introduces an analytic model of the velocity field of the induced air flow according to the spatial configuration of vertical air jets. Then two degrees-of-freedom position control is investigated by exploiting the linearity property of the model. Finally the model is validated under closed-loop control and the performances of the position control are evaluated

A new Aerodynamic traction principle for handling products on an Air Cushion.

International audienceThis paper introduces a new aerodynamic traction principle for handling delicate and clean products, such as silicon wafers, glass sheets or flat foodstuff. The product is carried on a thin air cushion and transported along the system by induced air flows. This induced air flow is the indirect effect of strong vertical air-jets that pull the surrounding fluid. The paper provides a qualitative explanation of the operating principles and a description of the experimental device. Very first experimental results with active control are presented. The maximum velocity and acceleration that can be obtained for the considered device geometry meet the requirements for industrial applications