Parallel Manipulation Based on Stick-Slip Motion of Vibrating Platform

Mayyas, Mohammad

doi:10.3390/robotics9040086

Cited by 11 publications

(10 citation statements)

References 48 publications

(68 reference statements)

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“…The dynamics of a body moving along a straight-line trajectory on a plate subjected to this kind of excitation were studied by Reznik et al [ 28 ]. The dynamics of stick-slip motion under time-asymmetry were studied by Mayyas [ 29 , 30 ]. The time-asymmetry was created by mounting a platform on a nonlinear leaf spring that exhibits direction-dependent elasticity.…”

Section: Introductionmentioning

confidence: 99%

Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control

et al. 2022

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Currently used planar manipulation methods that utilize oscillating surfaces are usually based on asymmetries of time, kinematic, wave, or power types. This paper proposes a method for omnidirectional manipulation of microparticles on a platform subjected to circular motion, where the motion of the particle is achieved and controlled through the asymmetry created by dynamic friction control. The range of angles at which microparticles can be directed, and the average velocity were considered figures of merit. To determine the intrinsic parameters of the system that define the direction and velocity of the particles, a nondimensional mathematical model of the proposed method was developed, and modeling of the manipulation process was carried out. The modeling has shown that it is possible to direct the particle omnidirectionally at any angle over the full 2π range by changing the phase shift between the function governing the circular motion and the dry friction control function. The shape of the trajectory and the average velocity of the particle depend mainly on the width of the dry friction control function. An experimental investigation of omnidirectional manipulation was carried out by implementing the method of dynamic dry friction control. The experiments verified that the asymmetry created by dynamic dry friction control is technically feasible and can be applied for the omnidirectional manipulation of microparticles. The experimental results were consistent with the modeling results and qualitatively confirmed the influence of the control parameters on the motion characteristics predicted by the modeling. The study enriches the classical theories of particle motion on oscillating rigid plates, and it is relevant for the industries that implement various tasks related to assembling, handling, feeding, transporting, or manipulating microparticles.

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Section: Introductionmentioning

confidence: 99%

Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control

et al. 2022

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“…Olejnik Pawełand Awrejcewicz (2013) applied Filippov’s theory and obtained good estimation for a discontinuous spring-mass system placed on an oscillating belt and undergoing stick–slip bifurcations with dry friction. In a previous publication, we proposed different models that couple the oscillation of the platform with the transportation of the part caused by the dynamic of Coulomb friction model and nonlinear leaf spring (Mayyas, 2020). This study extends on the work and develops analytical solutions of decoupled ordinary differential equations.…”

Section: Introductionmentioning

confidence: 99%

Modeling and analysis of vibratory feeder system based on robust stick–slip motion

Mayyas

2021

Journal of Vibration and Control

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This study presents model and analysis of a robust one-dimensional stick–slip transportation of an object, on dry contact with an oscillating platform suspended by nonlinear leaf spring. The oscillating platform is designed and modeled such that the elastic spring constant is direction dependent. A recursive analytical solution algorithm is proposed to solve nonlinear system dynamics. The system and the input force parameters are both investigated with goal to optimize the average velocity of the object. Both experimental and analytical results showed that the stick–slip motion is highly nonlinear and sensitive to the system and input force parameters. Moreover, the simulations showed that it is feasible to design a platform with robust sets of parameters (natural frequencies) and further use the input force parameters (amplitude and driving frequency) to tune for desired average velocity, under given dry friction conditions.

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“…Mayyas [ 28 ] analyzed the stick-slip dynamics of a part moving on an oscillating platform, intended to be used for two-dimensional manipulation. A temporal system asymmetry (also called time-asymmetry, it occurs when the forward and reverse motion have different speeds) was applied, and the part’s motion forward was possible when the platform acceleration in the forward direction generated an inertial force, which was lower than the friction force, or the backward acceleration generated an inertial force, which was higher than the friction force.…”

Section: Introductionmentioning

confidence: 99%

Nonprehensile Manipulation of Parts on a Horizontal Circularly Oscillating Platform with Dynamic Dry Friction Control

Kilikevičius

Liutkauskienė

Fedaravičius

2021

Sensors

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This paper presents a novel method for nonprehensile manipulation of parts on a circularly oscillating platform when the effective coefficient of dry friction between the part and the platform is being dynamically controlled. Theoretical and experimental analyses have been performed to validate the proposed method and to determine the control parameters that define the characteristics of the part’s motion. A mathematical model of the manipulation process with dynamic dry friction control was developed and solved. The modeling showed that by changing the phase shift between the function for dynamic dry friction control and the function defining the circular motion of the platform, the part can be moved in any direction as the angle of displacement can be controlled in a full range from 0 to 2π. The nature of the trajectory and the mean displacement velocity of the part mainly depend on the width of the rectangular function for dynamic dry friction control. To verify the theoretical findings, an experimental setup was developed, and experiments of manipulation were carried out. The experimental results qualitatively confirmed the theoretical findings. The presented analysis enriches the classical theories of nonprehensile manipulation on oscillating platforms, and the presented findings are relevant for mechatronics, robotics, mechanics, electronics, medical, and other industries.

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Parallel Manipulation Based on Stick-Slip Motion of Vibrating Platform

Cited by 11 publications

References 48 publications

Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control

Omnidirectional Manipulation of Microparticles on a Platform Subjected to Circular Motion Applying Dynamic Dry Friction Control

Modeling and analysis of vibratory feeder system based on robust stick–slip motion

Nonprehensile Manipulation of Parts on a Horizontal Circularly Oscillating Platform with Dynamic Dry Friction Control

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