Building a Universal Planar Manipulator

Reznik, Dan; Moshkovich, E.; Canny, John

doi:10.1007/978-1-4615-4545-3_8

Cited by 32 publications

(23 citation statements)

References 7 publications

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“…Our work is a natural extension of the Universal Planar Manipulator (UPM) designed by Canny and Reznik [11]. The UPM consists of a single rigid horizontal plate that moves with three degrees-of-freedom (two translational and one rotational).…”

Section: Introductionmentioning

confidence: 99%

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Vose

Umbanhowar

Lynch

2009

The International Journal of Robotics Research

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Abstract-We show that small-amplitude periodic motion of a rigid plate causes point parts on the plate to move as if they are in a position-dependent velocity field. Further, we prove that every periodic plate motion maps to a unique velocity field. By allowing a plate to oscillate with six-degrees-of-freedom, we can create a large family of programmable velocity fields. We examine in detail sinusoidal plate motions that generate fields with either isolated sinks or squeeze lines. These fields can be exploited to perform tasks such as sensorless part orientation.

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Section: Introductionmentioning

confidence: 99%

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Vose

Umbanhowar

Lynch

2009

The International Journal of Robotics Research

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“…In [18] the author developed a device which consists of a rigid plane powered by four linear actuators (voice coil actuator VCA), to generate asymmetric longitudinal vibrations in a two dimensional plane, thus creating driving force vector fields to manipulate objects that lie on that plate. In this paper, the handling is specially considered, by controlling simultaneously the position of one or more parts over a region bounded by the plane.…”

Section: Introductionmentioning

confidence: 99%

“…This is done by means of developing a manipulator, based on the Universal Planar Manipulator [18], using inexpensive and powerful actuators, scalable for applications with larger pieces at lower costs compared to the VCA alternative.…”

Section: Introductionmentioning

confidence: 99%

Analysis of a planar manipulator operated by impulsion forces

Grisales¹,

2016

Ingeniare. Rev. chil. ing.

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“…The rest of the axes depend on mechanically-actuated components. Although the Universal Planar Manipulator [9] can magnetically move multiple objects, they are all resting on a table.…”

Section: Introductionmentioning

confidence: 99%

LeviPath

Omirou

Marzo

Seah

et al. 2015

Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems

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LeviPath is a modular system to levitate objects across 3D paths. It consists of two opposed arrays of transducers that create a standing wave capable of suspending objects in midair. To control the standing wave, the system employs a novel algorithm based on combining basic patterns of movement. Our approach allows the control of multiple beads simultaneously along different 3D paths. Due to the patterns and the use of only two opposed arrays, the system is modular and can scale its interaction space by joining several LeviPaths. In this paper, we describe the hardware architecture, the basic patterns of movement and how to combine them to produce 3D path visualisations.

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Building a Universal Planar Manipulator

Cited by 32 publications

References 7 publications

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Analysis of a planar manipulator operated by impulsion forces

LeviPath

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