This paper discusses a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin object is dynamically controlled by the plate's rapid motion. After explaining the manipulation principle, we introduce a simplified analytical model where an object is modeled by two mass points and the plate has two degrees of freedom: a translational motion and a rotational one. After categorizing jump patterns of the mass point with considering the plate's acceleration, we show that gait-like behaviors of the object are generated on the periodic plate's motion. Through simulation analysis, we show the deformation velocity transition of the object with respect to the amplitude of plate's acceleration. We reveal that the transition is characterized by particular amplitudes which govern the jump patterns of the mass point. We make clear that the optimum plate's motion leading to the maximal deformation velocity exists on one of such particular amplitudes.
This paper describes a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin rheological object is dynamically controlled by the combination of the inertial force and the frictional one generated by the plate's rapid motion. We first introduce a one-dimensional viscous model to approximate the object deformation characteristics, focusing on the final shape of the object. Assuming that the plate has two degrees of freedom: a translational motion and a rotational one, we derive two sufficient conditions to deform the object: one to enlarge it and the other to contract it. Then, we show the plate's cyclic motion leading to the object's continuous deformation. Finally, simulation and experimental results are shown in order to verify the proposed method.
This paper discusses a nonprehensile dynamic manipulation of a deformable object, where the shape of a sheet-like rheological object is dynamically controlled by the combination of the inertial force and the frictional one generated by the plate's rapid motion. We first introduce a linear viscous model for approximating the object deformation characteristics, focusing on the final shape of the object. Assuming that the plate has two degrees of freedom: a translational motion and a rotational motion, we derive two sufficient conditions to deform the object: one to enlarge it and the other to contract it. Then, we show the cyclic plate motion leading to the continuous object's deformation, and finally simulation and experimental results are shown in order to verify the proposed method.
This paper discusses a dynamic nonprehensile manipulation of a deformable object, where the shape of a deformable object is controlled by using the plate's rapid vibration. After experimentally confirming the feasibility of the manipulation principle, we introduce a simplified analytical model where a deformable object is modeled by two mass points and the plate has two degrees of freedom: a translational motion and a rotational one. Using this model, we investigate how the object's behavior changes with respect to the amplitude of the rotational angular acceleration of the plate. We show that the behaviors of the mass points and the whole object are categorized by the six non-dimensional boundary amplitudes. Through simulation analysis, we then reveal that the deformation velocity transition of the object is characterized by the boundary amplitudes. We make clear that the optimal plate's motion leading to the maximal deformation velocity is provided by one of the six boundary amplitudes.
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