Optimization of Nonprehensile Shape Manipulation Based on Non-dimensional Boundary Amplitudes

Abstract

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.