Krishnasamy, J., Jakiela, M. J., and Whitney, D. E. 1996. Mechanics of vibration-assisted entrapment with application to design. IEEE International Conference on Robotics and Automation, pp. 838--845, Minneapolis, MN, April.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....are reminiscent of vibratory motion. One commercially successful vibratory parts feeder is the Sony APOS system (Hitakawa [15] The problem is to design a tray of nests, and a vibratory motion for the tray, so that parts only remain in the nests if they are properly oriented. Krishnasamy et al. [18] have studied a simplified example of the APOS design problem. Unfortunately, the complex dynamic behavior of a part with non trivial geometry on a vibrating surface is extremely difficult to analyze and simulate, much less design to yield a desired behavior. Our device differs from vibratory ....

J. Krishnasamy, M. J. Jakiela, and D. E. Whitney. Mechanics of vibration-assistedentrapment with application to design. Proc. pages 838--845, 1996.

....by their interactions with (in the case of bowl feeders) fences and other obstacles, or (in the case of APOS systems) by an induced vibration and their interaction with pallets of special shapes. Krishnasamy, et.al. have begun the analysis of APOS pallets, with the goal of automating their design [48]. Peshkin and others have studied the case of parts along a conveyer belt, with stationary fences along the way to orient them [68] 20] Mani and Wilson [57] designed a programmable parts orienting table where a part in an arbitrary and unknown orientation is oriented (without sensors) by the ....

J. Krishnasamy, M. J. Jakiela, D. E. Whitney, "Mechanics of Vibration-assisted Entrapment with Application to Design", Proceedings of the 1996 IEEE International Conference on Robotics and Automation, pp. 838-845, 1996.

....has worked on abstracting the performance of vibratory bowl feeders with respect to part mass, part geometry, 4 friction, and oscillating frequency of the device. A related and emerging line of work involves simulation based optimization of part shapes targeted for thermodynamic self assembly [13, 22]. The end result of this exploration was (i) we determined geometric parameters which optimized parts feeding and (ii) we found a bug on the original design which was solved by a new resonator control motion scheme. 1.1.2 Vibrations Based Parts Feeding The M Chip is based on nearly vertical ....

J. Krishnasamy, M. Jakiela, and D. Whitney. Mechanics of vibration -- assisted entrapment with application to design. In IEEE International Conference on Robotics and Automation, Minneapolis, MN, May 1995.

.... the complex interactions between part and moving (vibrating) substructure be reduced to a simple bulk dynamic model Dynamic simulation is ideal in addressing the above questions since it eliminates the need for experimental measurements; using it for the purposes of design is a fairly novel idea [4], mostly due to the numerical instability and inefficiency of existing simulation packages. The Impulse Tool is particularly convenient since it is the first remarkably efficient and accurate package in dealing with a large number of moving interacting rigid bodies. Its impact based collision ....

J. Krishnasamy, M. Jakiela, and D. Whitney. Mechanics of vibration -- assisted entrapment with application to design. In IEEE International Conference on Robotics and Automation, Minneapolis, MN, May 1995.

....Of course, parts feeding is of critical importance in automated assembly, and has received much attention. Successful commercial bulk feeders include vibratory feeder bowls (Boothroyd et al. 1982) the Adept FlexFeeder (Arban, 1995; Gudmundsson and Goldberg, 1997) and the Sony APOS system (Krishnaswamy et al. 1996). It is interesting to note that these systems have in common a recirculation path, reorientation facility, and sorting capability. They provide mechanisms for some of the parts to assume the desired orientations, and allow the rest of the parts to be recirculated. Ensuring the parts are in the ....

Krishnaswamy, J., Jakiela, M. J., and Whitney, D. E. (1996). Mechanics of vibration-assisted entrapment with application to design. In Proc. IEEE Int'l Conf. on Robotics and Automation, pages 838--845.

....if they are in the proper orientation, but otherwise are ejected and slide off the tray. Brost [23] explored a closely related idea, using configuration space to analyze the interactions of a part with a shape. A qualitative analysis of the APOS process is provided by Krishnasamy et al. [38]. Parts orienting by an arrangement of fixed fences over a conveyor was explored by Peshkin and Sanderson [56] and extended by Brokowski et al. 21] and Wiegley et al. 65] Bowl feeders, APOS, and fixed fences all work by forcing the part to interact with shapes that are designed for the ....

J. Krishnasamy, M. J. Jakiela, and D. E. Whitney. Mechanics of vibration-assisted entrapment with application to design. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 838--845, 1996.

....of programmability and an extremely compact size. Of course, parts feeding is of critical importance in automated assembly, and has therefore received much attention. Successful commercial bulk feeders include vibratory feeder bowls, the Adept Flexible Parts Feeder [3] and the Sony APOS system [4]. It is interesting to note that all these systems have in common a recirculation path, reorientation facility, and sorting capability. Instead of focusing on each part individually, these feeders provide mechanisms for some of the parts to assume the desired orientations, and allow the rest of ....

J. Krishnaswamy, M. J. Jakiela, and D. E. Whitney, "Mechanics of vibration-assisted entrapment with application to design," in Proc. IEEE Int'l Conf. on Robotics and Automation, pp. 838--845, April 1996.

....degree of programmability and an extremely compact size. Of course, parts feeding is of critical importance in automated assembly, and has therefore received much attention. Successful commercial bulk feeders include vibratory feeder bowls, the Adept flexible feeder [3] and the Sony APOS system [4]. It is interesting to note that all these systems have in common a recirculation path, reorientation facility, and sorting capability. Instead of focusing on each part individually, these feeders provide mechanisms for some of the parts to assume the desired orientations, and allow the rest of ....

J. Krishnaswamy, M. J. Jakiela, and D. E. Whitney, "Mechanics of vibration-assisted entrapment with application to design," in Proc. IEEE Int'l Conf. on Robotics and Automation, pp. 838--845, April 1996.

....[7] has worked on abstracting the performance of vibratory bowl feeders with respect to part mass, part geometry, friction, and oscillating frequency of the device. A related and emerging line of work involves simulation based optimizationof part shapes targeted for thermodynamic self assembly [8, 9]. The remainder of this paper is organized as follows: in Section II the simulation setup is explained. In Section III we describe how both the jamming and double bounce problems were eliminated, and also performance studies which identify an optimal resonator shape. In Section IV we develop an ....

J. Krishnasamy, M. Jakiela, and D. Whitney. Mechanics of vibration -- assisted entrapment with application to design. In IEEE International Conference on Robotics and Automation, Minneapolis, MN, May 1995.

....[9] In this case, off plane vibration is used to feed parts along a track internal to the feeder. The APOS feeder [9] uses vibration to aid in massively parallel passive part entrapment applications. Designing feeder part shapes for optimum entrapment has been the subject of some recent research [10]. More exotic experiments with vibration in the context of part manipulation include resonance based manipulation [11] and part localization through node formation in an oscillating surface [12] Much of the work described here is a continuation of our research in exploiting horizontal vibrations ....

J. Krishnasamy, M. Jakiela, and D. Whitney. Mechanics of vibration -- assisted entrapment with application to design. In IEEE International Conference on Robotics and Automation, Minneapolis, MN, May 1995.

....if they are in the proper orientation, but otherwise are ejected and slide off the tray. Brost [23] explored a closely related idea, using configuration space to analyze the interactions of a part with a shape. A qualitative analysis of the APOS process is provided by Krishnasamy et al. [38]. Parts orienting by an arrangement of fixed fences over a conveyor was explored by Peshkin and Sanderson [56] and extended by Brokowski et al. 21] and Wiegley et al. 65] Bowl feeders, APOS, and fixed fences all work by forcing the part to interact with shapes that are designed for the ....

J. Krishnasamy, M. J. Jakiela, and D. E. Whitney. Mechanics of vibration-assisted entrapment with application to design. In IEEE International Conference on Robotics and Automation, pages 838--845, 1996.

....a vibrating pallet with nests designed to trap only parts in the correct orientation. Brost [6] uses shape constraints to orient a part by designing a nest to catch it. Caine [7] applies motion constraints from interacting part shapes to vibratory bowl feeder track design. Krishnasamy et al. [13] analyze the effect of shape and vibration parameters on the entrapment efficiency of parts in an APOS like system. Erdmann and Mason [10] used sensorless manipulation strategies to eliminate configuration uncertainty of a part in a tray by repeatedly tilting it. Peshkin and Sanderson [16] used a ....

J. Krishnasamy, M. J. Jakiela, and D. E. Whitney. Mechanics of vibration-assisted entrapment with application to design. In IEEE International Conference on Robotics and Automation, Apr. 1996.

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Krishnasamy, J., Jakiela, M. J., and Whitney, D. E. 1996. Mechanics of vibration-assisted entrapment with application to design. IEEE International Conference on Robotics and Automation, pp. 838--845, Minneapolis, MN, April.

No context found.

J. Krishnasamy, M. J. Jakiela, and D. E. Whitney. Mechanics of vibration-assisted entrapment with application to design. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 838--845, 1996.

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