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.

Currently used nonprehensile manipulation systems that are based on vibrational techniques employ temporal (vibrational) asymmetry, spatial asymmetry, or force asymmetry to provide and control a directional motion of a body. This paper presents a novel method of nonprehensile manipulation of miniature and microminiature bodies on a harmonically oscillating platform by creating a frictional asymmetry through dynamic dry friction control. To theoretically verify the feasibility of the method and to determine the control parameters that define the motion characteristics, a mathematical model was developed, and modeling was carried out. Experimental setups for miniature and microminiature bodies were developed for nonprehensile manipulation by dry friction control, and manipulation experiments were carried out to experimentally verify the feasibility of the proposed method and theoretical findings. By revealing how characteristic control parameters influence the direction and velocity, the modeling results theoretically verified the feasibility of the proposed method. The experimental investigation verified that the proposed method is technically feasible and can be applied in practice, as well as confirmed the theoretical findings that the velocity and direction of the body can be controlled by changing the parameters of the function for dynamic dry friction control. The presented research enriches the classical theories of manipulation methods on vibrating plates and platforms, as well as the presented results, are relevant for industries dealing with feeding, assembling, or manipulation of miniature and microminiature bodies.

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.

The article proposes a new method of manipulating parts on a horizontal plane, when the plane is excited in two perpendicular directions by a harmonic law with different frequencies and a phase shift.  To determine motion patterns which are most suitable for automatic assembly, a mathematical model of movement of parts on the horizontal plane was developed. The results demonstrated that by changing the excitation parameters and the coefficient of friction between the part and the plane, the part can be easily moved along prescribed trajectory ensuring a necessary positioning precision and alignment for the assembly operation. The most suitable trajectories for connecting surfaces matching as well as the most suitable excitation parameters for automatic assembling process were obtained. The proposed method can be efficiently applied in automatic assembly to match the surfaces of small parts with a small assembly clearance.

This article presents the results of numerical investigation of the influence of the streamlined body temperature on drag force and on the falling velocity in a water channel. The experimental data reflecting the cooling dynamics and body temperature influence on the falling velocity are presented as well. k − ε turbulence model and homogenous heat transfer model were chosen for the numerical 3D simulation. Drag force changes induced by the alteration of the body temperature were investigated. Velocity of the streamlined body under different temperatures of water was investigated experimentally, and the results were compared to the data obtained during the numerical simulation. The increase of the falling velocity and decrease of drag force were found to have been affected by the increase of the body temperature, which had influence on the change of the water parameters (density, phase, etc.) near the surface of the body. Simulation showed that the drag force and a velocity also depended on the water temperature. The drag force of the streamlined body decreased by 32% in comparison to the cold body for the body temperature equal to 150 °C and water temperature close to the saturation temperature (98 °C). Experimentally, it was determined that the velocity of the streamlined body covered by vapor film depended on the falling time and increased by 10–30%. Velocity difference was very small for the cold and hot bodies at the initial moment of the drop; however, it reached 20% and more after 0.3 s of the falling process.