Organic thermal and electrostatic ciliary microactuator array for object manipulation

Suh, Junkyo; Glander, Steven F; Darling, Robert M.; Storment, C.W.; Kovacs, G.T.A.

doi:10.1016/s0924-4247(97)80224-5

Cited by 61 publications

(61 citation statements)

References 6 publications

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“…Several MEMS researchers, among others Storment et al 1994;Liu and Will 1995;Jacobson et al 1995;Suh et al 1996) have proposed MEMS manipulator arrays. For an overview, see the work of Liu and Will (1995) or colleagues (1994a, 1994b).…”

Section: Microfabricated Actuator Arraysmentioning

confidence: 99%

“…For example, the prototype MEMS arrays described in Section 2.1 currently have actuators in only four different directions, and the actuators are only row-wise controllable. Arrays with individually addressable actuators at various orientations are possible (Böhringer et al 1994a(Böhringer et al , 1994bLiu and Will 1995;Böhringer, Donald, and MacDonald 1996b;Suh et al 1996) but require significant development effort. There are also limitations on the resolution of the devices given by fabrication constraints.…”

Section: Manipulation Grammarsmentioning

confidence: 99%

See 1 more Smart Citation

Programmable Force Fields for Distributed Manipulation, with Applications to MEMS Actuator Arrays and Vibratory Parts Feeders

Böhringer

Donald

MacDonald

1999

The International Journal of Robotics Research

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Section: Microfabricated Actuator Arraysmentioning

confidence: 99%

Section: Manipulation Grammarsmentioning

confidence: 99%

Programmable Force Fields for Distributed Manipulation, with Applications to MEMS Actuator Arrays and Vibratory Parts Feeders

Böhringer

Donald

MacDonald

1999

The International Journal of Robotics Research

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“…Consider a smooth plate motion St = Ost; st t which i s closed, i.e., S0 = ST, for some T 0. The plate's tangential velocity s at a point P is: cx; c y; w = ,u2=u3; u 1=u3; u 3 6…”

Section: Related Workmentioning

confidence: 99%

A flat rigid plate is a universal planar manipulator

Reznik

Canny

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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We consider the problem of parallel part manipulation, i.e., the simultaneous position and orientation control of one or more p arts in a bounded r egion of the plane. We propose a novel, minimalist device, based on a single horizontallyvibrating at plate. We show that a closed rigid motion of the plate, involving its 3 dofs, can be c omputed which produces desired average forces at a nite number of points, e.g., parts' locations. This implies that one or more p arts can follow independent trajectories simultaneously, as they interact with a single vibrating plate. This is in sharp contrast with more c omplex designs such as massively-parallel actuator arrays and or prehensile manipulation. Dynamic simulation is used to test the current method in two parallel part manipulation examples. A prototype of the device has been built with inexpensive parts; physical implementation of the proposed method is currently underway.

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“…Examples of part manipulation devices which exploit some form of timeasymmetric driving force include air flow nozzle arrays [6] and multi-phase electric field tubes [7]. Arrays of parallel actuators such as orientable rollers [8], thermoactuated cilia [9], and a torsional resonators [10,11] have been proposed as novel designs for non-prehensile manipulation in the plane. The remainder of this paper is organized as follows: In Section II we present the details of plate motion and control.…”

Section: A Related Workmentioning

confidence: 99%

“…To derive eq in terms of d, use eq = r max , Equations 7 and 4, yielding the following linear relationship: eq = a max T 4 2d , 1 (9) Notice that for d = 0 :5, eq = 0 , i.e., as expected the part doesn't feed since the velocity profile is perfectly symmetric, with P = 0 , and t fwd = T= 2.…”

Section: A Quasi-static Analysismentioning

confidence: 99%

Analysis of part motion on a longitudinally vibrating plate

Reznik

Canny

Goldberg

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World

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Abstract-We analyze the dynamics of part motion for a novel type of planar parts feeder consisting of a longitudinally vibrating flat plate and a part placed on its surface. For each vibration cycle, the plate's velocity is held positive (forward motion) for a longer time than it is held negative (backward motion). This type of asymmetric vibration combined with the non-linear nature of Coulomb friction causes the part to accelerate along a straight line to a terminal velocity called the "feed rate". The average force exerted by the plate on the part is shown to be proportional to the latter's deviation from the feed rate. In other words, the part behaves as if it were immersed in a forward moving viscous fluid. Expressions for the feed rate and viscosity constants are derived with respect to various physical and control parameters. Rigid-body dynamic simulation results are shown to be in good agreement with the analysis.

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Organic thermal and electrostatic ciliary microactuator array for object manipulation

Cited by 61 publications

References 6 publications

Programmable Force Fields for Distributed Manipulation, with Applications to MEMS Actuator Arrays and Vibratory Parts Feeders

Programmable Force Fields for Distributed Manipulation, with Applications to MEMS Actuator Arrays and Vibratory Parts Feeders

A flat rigid plate is a universal planar manipulator

Analysis of part motion on a longitudinally vibrating plate

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