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Robotics 2018, 7(3), 34; https://doi.org/10.3390/robotics7030034

Omnidirectional Nonprehensile Manipulation Using Only One Actuator

Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita 565-0871, Japan
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Received: 1 May 2018 / Revised: 26 June 2018 / Accepted: 3 July 2018 / Published: 4 July 2018
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Abstract

This paper presents a novel nonprehensile manipulation method that uses the vibration of a plate, where the two degrees of freedom of a part on the plate are controlled by only one actuator. First, a manipulator whose end effector is a flat plate is introduced. By employing an underactuated joint mechanism, the shape and orientation of the vibrational orbit of the plate vary according to frequency and offset angle of the sinusoidal displacement input to an actuator. Then, simulation analyses reveal that the manipulator can omnidirectionally induce translational velocity to the part on the plate. There exists an orthogonality between the effects of the frequency and offset angle on the velocity map of the part. Based on this characteristic, a visual feedback control for manipulating the part is designed. Finally, the proposed method is validated via experiments using a prototype manipulator. A target-trajectory tracking task and a four-way part-feeding task are demonstrated. View Full-Text
Keywords: nonprehensile manipulation; underactuated mechanism; omnidirectional velocity nonprehensile manipulation; underactuated mechanism; omnidirectional velocity
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Higashimori, M.; Yamaguchi, K.; Shibata, A. Omnidirectional Nonprehensile Manipulation Using Only One Actuator. Robotics 2018, 7, 34.

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