Some effects of ultrasonic vibration on the inserting operation

Mohri, Naotake; Saito, Nagao

doi:10.1007/bf01751120

Cited by 8 publications

(3 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Our system is similar to many problems in robotic manipulation (e.g., part alignment (Boothroyd and Ho, 1976;Brost, 1992;Jayaraman, 1996;Peshkin and Sanderson, 1988;Várkonyi, 2014), grasping without force closure (Lynch et al, 1998;Lynch and Mason, 1999;Zumel, 1997)) in that shape strongly affects physical interaction. In addition, in robotic part alignment, motion also consists of continual collisions (Jayaraman, 1996;Mohri and Saito, 1994;Peshkin and Sanderson, 1988;Zumel, 1997). Despite this, quasi-static potential energy field models well explained how part and feeder shapes affect their interactions and informed planning strategies to achieve the desired alignment even with uncertainties in part orientation, friction, and intermittent contact dynamics (Brost, 1992;Peshkin and Sanderson, 1988;Zumel, 1997).…”

Section: Rationale For Potential Energy Landscape Modelmentioning

confidence: 99%

Shape-induced obstacle attraction and repulsion during dynamic locomotion

Han

Othayoth

Wang

et al. 2021

The International Journal of Robotics Research

View full text Add to dashboard Cite

Robots still struggle to dynamically traverse complex 3D terrain with many large obstacles, an ability required for many critical applications. Body–obstacle interaction is often inevitable and induces perturbation and uncertainty in motion that challenges closed-form dynamic modeling. Here, inspired by recent discovery of a terradynamic streamlined shape, we studied how two body shapes interacting with obstacles affect turning and pitching motions of an open-loop multi-legged robot and cockroaches during dynamic locomotion. With a common cuboidal body, the robot was attracted towards obstacles, resulting in pitching up and flipping-over. By contrast, with an elliptical body, the robot was repelled by obstacles and readily traversed. The animal displayed qualitatively similar turning and pitching motions induced by these two body shapes. However, unlike the cuboidal robot, the cuboidal animal was capable of escaping obstacle attraction and subsequent high pitching and flipping over, which inspired us to develop an empirical pitch-and-turn strategy for cuboidal robots. Considering the similarity of our self-propelled body–obstacle interaction with part–feeder interaction in robotic part manipulation, we developed a quasi-static potential energy landscape model to explain the dependence of dynamic locomotion on body shape. Our experimental and modeling results also demonstrated that obstacle attraction or repulsion is an inherent property of locomotor body shape and insensitive to obstacle geometry and size. Our study expands the concept and usefulness of terradynamic shapes for passive control of robot locomotion to traverse large obstacles using physical interaction. Our study is also a step in establishing an energy landscape approach to locomotor transitions.

show abstract

Section: Rationale For Potential Energy Landscape Modelmentioning

confidence: 99%

Shape-induced obstacle attraction and repulsion during dynamic locomotion

Han

Othayoth

Wang

et al. 2021

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…Moreover, many researches have been studied, and have extended application range of RCC devices [2][3][4]. Mouri et al dealt with narrow clearance assembly and solved problems of high friction and jamming by adding high-frequency vibration to a peg during insertion process [5]. These conventional approaches have disadvantages: A mechanical element, such as a spring and a rubber, need frequent maintenance due to their degradation; the system tends to become large; the cost of design and production tends to become large.…”

Section: Introductionmentioning

confidence: 99%

Precise assembly of ring part with optimized hollowed finger

2016

View full text Add to dashboard Cite

We deal with a technical issue of assembling a ring part into a shaft part with the clearance of several micrometers by using a robotic manipulator. This issue is difficult because of deformation of a ring part compared with peg-in-hole assembly. We propose a precise assembly method of a ring part with finger shape to solve this issue. We also propose a method to decide design parameters of the finger by maximizing a closed area in Jamming diagram, which represents a successful condition of assembling rigid parts by quasi-static force analysis. Finally, availability of the proposed method is verified by an experiment of ring assembly with a robotic hand attached to the designed fingers.

show abstract

“…Bush in mean time is mobile based on a plane. After the peg is excited in axial direction on one end, not only longitudinal but also lateral vibrations are generated at the other end of the peg [9,10]. The tip of the peg is moving in elliptical shape trajectory in a horizontal plane since lateral vibrations aren't strictly polarized.…”

Section: Introductionmentioning

confidence: 99%