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A Universal Planar Manipulator

A Universal Planar Manipulator. Dan S. Reznik & Prof. John Canny UC-Berkeley July, 2000. (x,y, q ). 1 horizontal, rigid plate enough?. Velocity Asymmetry. Bang-bang. cos t + 0.5 cos 2t . +m mg. 62%. 56%. -m mg. Coulomb Pump. Straight-Line Feeding. Anything Goes. Interesting Apps.

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A Universal Planar Manipulator

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  1. A Universal Planar Manipulator Dan S. Reznik & Prof. John Canny UC-Berkeley July, 2000

  2. (x,y,q) 1 horizontal, rigid plate enough?

  3. Velocity Asymmetry Bang-bang cos t + 0.5 cos 2t +mmg 62% 56% -mmg

  4. Coulomb Pump

  5. Straight-Line Feeding

  6. Anything Goes

  7. Interesting Apps • Novel tangible UI’s • Force feedback with viscous feel • Active desk • Fancy product displays • Rotate wine bottles • Fluid-based micro manipulation

  8. From 1d feedingto2d parallel manipulation

  9. Force: not closed!

  10. Parallel Manipulation N parts => 2N constraints

  11. Our Idea • Horizontal Plate: 3 dof • Task: move N-parts • Proposal: Generate local fields • Move parts almost one-by-one

  12. C -C “Local” Field

  13. f1+f2 Radial Jamming

  14. Radial jamming Field

  15. The System B/W camera Teklam 1” H/C 50 lbf voice coils Newport Optical Table

  16. PC Interface video capture A/D signal generation

  17. Image Processing • Plate edges • Coin positions • Initial • tracking

  18. Bowtie (vhs)

  19. Sorter

  20. Summary • Motivation: simplest possible manipulator • Use non-linearity of friction and asymmetric motion (few harmonics) • Very general parallel manipulator • Other suggested apps?

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