Berkowitz, D. R. and Canny, J. (1996). Designing parts feeders using dynamic simulation. In Proc. 1996 IEEE Intl. Conf. on Robotics and Automation, pages 1127--1132.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....and programming of parts feeders. As a result, design of most industrial vibratory parts feeders is based on trial and error. In an effort to speed up the design process, design approaches have been proposed based on statistics on the part state collected through extensive dynamic simulation [2], 13] 23] 24] These statistics form a high level description of the behavior of the dynamical system, which can be modified bychanging the design parameters. In this paper we study an intermediate level description based on recognizing design parameter dependent features of the dynamical ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conferenceon Robotics and Automation, pages 1127--1132, 1996.

....is the vibratory bowl feeder [8] Vibratory bowl feeders are designed to orient a single part shape, therefore they have to be re designed and re built to handle different shapes. Some recent research attempts to develop systematic approaches for designing and analyzing vibratory bowl feeders [2], while the mainstream research in manufacturing has focused in developing more flexible and more robust platforms, such as programmable part feeders. This type of part feeder can be programmed to handle different parts without the need for hardware modification (e.g. 9, 12, 10, 1, 7] A new ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, 1996.

....rectangular trap. Parts in undesired orientations fall back into the bowl, other orientations The railin I J Pejected part falls Direction of motion back into the bowl Fig. 10. Vibratory bowl feeder track [19] remain supported. Specific to vibratory bowls, researchers have used simulation [7, 27, 32], heuristics [28] and genetic algorithms [24] to design traps. Perhaps closest in spirit to our work is Caine s PhD thesis [21] which develops geometric analysis tools to help designers by rendering the configuration space for a given combination of part, trap, and obstacle. Caine also gives some ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation (ICRA), pages 1127-1132, 1996.

.... sys tems in which frictional contacts are essential to the successful operation of the system [5] In order to suc cessfully design and optimize such mechanical systems or manufacturing processes, a method for modeling and simulating mechanical systems with frictional con tacts is necessary [6]. Systems with frictional contacts The dynamic equations of motion for a mechanical system comprised of rigid bodies can be written in the form: c(q, The support of NSF grants MIP94 20397, GER93 55018 and MSS91 57156 is gratefully acknowledged. where q C is the vector of ....

D. R. Berkowitz and J. Canny, "Designing parts feeders using dynamic simulation," in Proc. of the 1996.

....mechanical sys tems in which frictional contacts are essential to the successful operation of the system. In order to successfully design and optimize such mechanical systems or manufacturing processes, a method for modeling and simulating mechanical systems with frictional contacts is necessary [14 15]. Systems with frictional contacts The dynamic equations of motion for a mechanical system comprised of rigid bodies can be written in the form: M c(q, 0) v (I)qT (1) where q C 3 is the vector of generalized coordinates, 3 is an n x n positive definite symmetric inertia ma trix, c(q, ....

D. R. Berkowitz and J. Canny, "Designing parts feeders using dynamic simulation," in Proc. of the i996 IEEE Izt'l Cozf. oz Robotzcs azd Automatzoz, pp. 1127 1132, 1996.

.... systems in which frictional contacts are essential to the successful operation of the system [29] In order to successfully design and optimize such mechanical systems or manufacturing processes, a method for modeling and simulating mechanical systems with frictional contacts is necessary [3]. In a forward dynamics problem, it is well known that in the frictionless case there is always a unique solution for the accelerations. When the constraints are not all independent, the system is statically indeterminate and the constraint forces cannot be uniquely determined. In the frictional ....

D. R. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In Proc. of the 1996 IEEE Int'l Conf. on Robotics and Automation, pages 1127--1132, 1996.

....One of the strong points of the APOS system is its flexibility: by replacing the tray and fine tuning the vibrating motion, other parts can be oriented. How these trays are designed and how to change the motion is not clear. Automating this step would increase the flexibility even further. Berkowitz and Canny (1996, 1997) used dynamic simulation to design a sequence of gates for a vibratory bowl. They represented the effects produced by the gates as state transitions in a non deterministic state automaton. The dynamics were simulated with Mirtich s impulse based dynamic simulator, Impulse (Mirtich and ....

Berkowitz, D. R. and Canny, J. (1996). Designing parts feeders using dynamic simulation. In Proc. 1996 IEEE Intl. Conf. on Robotics and Automation, pages 1127--1132.

....the track. A picture of a section of the feeder track is given in Figure 1. The parts move from the right to the left on the feeder track. Parts in undesired orientations fall back into the bowl, other orientations remain supported. Specific to vibratory bowls, researchers have used simulation [7, 24, 29], heuristics [26] and genetic algorithms [18] to design traps. Perhaps closest in spirit to our work is M. Caine s PhD thesis [15] which develops geometric analysis tools to help designers by rendering the configuration space for a given combination of part, trap, and obstacle. Caine also gives ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation (ICRA), pages 1127--1132, 1996.

.... collect statistical data to characterize a complex mechanical process was done in the context of estimating pose statistics for polyhedral parts dropped from random orientations on a flat surface [30] From a design optimization standpoint, the work closest to ours is that of Berkowitz and Canny [4, 5] who used Impulse to optimize the design of a passive parts orienting device. From a modeling standpoint, Boothroyd [11] 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 ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996.

....of oriented parts emerges at the top after successfully running the gauntlet. In this paper, we present a framework to filter polygonal parts on a track using traps. A trap is described by removing polygonal sections from the track. Specific to vibratory bowls, researchers have used simulation [23, 8, 28], heuristics [25] and genetic algorithms [18] to design traps. Perhaps closest in spirit to our work is M. Caine s PhD thesis which develops geometric analysis tools to help designers by rendering the configuration space for a given combination of part, trap, and obstacle [15] see also [16] ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, 1996.

....the strong points of the APOS system is its exibility: by replacing the tray and ne tuning the vibrating motion, other parts can be oriented. How these trays are designed and how to change the motion is not clear. Automating the design of these trays would increase the exibility even further. Berkowitz and Canny (1996, 1997) use dynamic simulation to design a sequence of gates for a vibratory bowl. They represent the effects produced by the gates as state transitions in a non deterministic state automaton. The dynamics are simulated with Mirtich s impulse based dynamic simulator, Impulse (Mirtich and Canny, ....

Berkowitz, D. R. and Canny, J. (1996). Designing parts feeders using dynamic simulation. In Proc. 1996 IEEE Intl. Conf. on Robotics and Automation, pages 11271132.

....and assembly design is [12] which describes vibratory bowls as well as non vibratory parts feeders in detail. The APOS parts feeding system is described by Hitakawa [26] Berretty et al. 6] present an algorithm for designing a particular class of gates in vibratory bowls. Berkowitz and Canny [4, 5] use dynamic simulation to design a sequence of gates for a vibratory bowl. The dynamics are simulated with Mirtich s impulse based dynamic simulator, Impulse [35] Christiansen et al. 16] use genetic algorithms to design a near optimal sequence of gates for a given part. Optimality is defined ....

Dina R. Berkowitz and John Canny. Designing parts feeders using dynamic simulation. In Proc. 1996 IEEE Intl. Conf. on Robotics and Automation, pages 1127-- 1132, April 1996.

....to climb a narrow spiral track in single file. Along the spiral track is a sequence of obstacles that either reject incorrect orientations or turn the part to the correct orientation. Recent work focusing on automating the design of bowl feeders includes that by Boothroyd [17] Berkowitz and Canny [13], Caine [25] and Christiansen et al. 28] In the SONY Advanced Parts Orienting System (APOS) 59] parts slide across a vibrating tilted tray with an array of depressions. The depressions and the vibration are designed so parts fall into and remain in the depressions if they are in the proper ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1127--1132, 1996.

.... systems in which frictional contacts are essential to the successful operation of the system [29] In order to successfully design and optimize such mechanical systems or manufacturing processes, a method for modeling and simulating mechanical systems with frictional contacts is necessary [3]. In a forward dynamics problem, it is well known that in the frictionless case there is always a unique solution for the accelerations. When the constraints are not all independent, the system is statically indeterminate and the constraint forces cannot be uniquely determined. In the frictional ....

D. R. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In Proc. of the 1996 IEEE Int'l Conf. on Robotics and Automation, pages 1127--1132, 1996.

....Similarly, during the insertion of a peg into a hole, there may be several impacts between the peg and the hole before successful assembly. In order to design and optimize the manufacturing process, a method for modeling and simulating mechanical systems with frictional impacts is necessary [8]. The classical theory of rigid body impact was developed for two smooth rigid bodies undergoing direct central impact [9] This traditionally involves the definition of a coefficient of restitution to model energy losses in conjunction with the impulse momentum equations which consist of the ....

D. R. Berkowitz and J. Canny, "Designing parts feeders using dynamic simulation," in Proceedings of the 1996 IEEE International Conference on Robotics and Automation, pp. 1127--1132, 1996.

.... A procedure for the planning of operation sequences to orient parts with such fences is described by Erdmann, Mason (1988) and Peshkin, Sanderson (1987) The design of a part feeder, based on a dynamic simulation tool with a three dimensional geometry and a single impact model is presented in Berkowitz, Canny (1996), where an exemplary layout of a gravity feeder is performed. The stability of such a feeding process with a discrete time dynamical model is investigated by Swanson, Burridge, Koditschek (1995) Glocker, Pfeiffer (1993) Seyffert (1993) and Seyffert, Pfeiffer (1994) explain the derivation and ....

Berkowitz, D.R.; Canny, J.: Designing Parts Feeders Using Dynamic Simulations, in: International Conference on Robotic and Automation. IEEE, 1996.

....bowl feeders have been proposed. For example, Carlisle et al. 9] describe a system that combines machine vision with a highspeed robot arm and [18] use an optical silhouette sensor with air nozzle to reject parts on a feeder track. Specific to vibratory bowls, researchers have used simulation [14, 4, 19], heuristics [16] and genetic algorithms [10] to design traps. Perhaps closest in spirit to our work is M. Caine s PhD thesis which develops geometric analysis tools to help designers by rendering the C space for a given combination of part, trap, and obstacle [8] Consider a part feeding system ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, 1996.

.... a conveyor [1] and the two palm manipulation techniques in [8] For references to related work see [8, 15] Parts feeders that have simple constraint surfaces above a conveyor have also been investigated [20] while detailed simulations have been recently performed for the design of parts feeders [2, 16]. Programmable vector fields demonstrate another example of nonprehensile manipulation. Certain vector fields have been implemented in the microscale with MEMS actuator arrays [4, 5, 6] and in the macroscale with transversely vibrating plates [3] For pointers to the different options offered by ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. IEEE ICRA, 1127--1132, 1996.

....forced to climb a narrow spiral track in single file. Along the spiral track is a sequence of obstacles that either reject incorrect orientations or turn the part to the correct orientation. Recent work focusing on automating the design of bowl feeders includes Boothroyd [17] Berkowitz and Canny [13]; Caine [25] and Christiansen et al. 28] In the SONY Advanced Parts Orienting System (APOS) 59] parts slide across a vibrating tilted tray with an array of depressions. The depressions and the vibration are designed so parts fall into and remain in the depressions if they are in the proper ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation, pages 1127--1132, 1996.

....outlines how feeder throughput can be estimated based on estimates of pose statistics, conveyor speed, and arm cycle time. Similar feeder designs are described in [10, 39] To facilitate the design of parts feeders, researchers have considered configuration space models [14, 7, 2, 8] simulation [17, 3, 23], heuristics [19] and genetic algorithms [11] The latter paper made use of our preliminary results in estimating pose statistics. Boothroyd noted that the feedrate for a parts feeder is based on pose statistics [6] He gave a quasi static estimator for rectangular and cylindrical parts. ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation (ICRA), Minneapolis, MN, 1996.

....nature of the design process. Wewould like to use dynamic simulation to expedite the efficient and effective design of industrial parts feeders. In our previous work, we described a tool to automatically generate, perform, and evaluate suites of feeder design experiments using dynamic simulation [1] . In that work and here we used Mirtich s impulse based dynamic simulator, Impulse [11; 12] Impulse uses a friction based model to simulate the microcollisions occurring between impacting bodies. A previous paper by Mirtich et al. gives results suggesting that Impulse can predict the dynamical ....

....orienting them. Their work was seminal in examining geometrical and physical considerations of the feeder design problem [3; 14] The tool we developed previously, enables us to automatically generate and perform many experiments over a parameterized multidimensional space of potential designs [1] . In a similar manner, Brost parameterized an operation space of grasping motions for producing a desired outcome. His algorithm incorporated uncertainty to guarantee successful operations. He implemented and tested his planner successfully using a real manipulator [5] Natarajan introduced ....

Dina R. Berkowitz and John Canny. Designing parts feeders using dynamic simulation. In International Conference on Robotics and Automation. IEEE, April 1996.

....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 model has been shown to work well on both vertex [5] and face (sliding) [6] types of partsurface interaction. The remainder of this paper is organized as follows: Section II describes the principle of operation and simulation experiments performed with the M Chip. These involve identifying design problems, trying new microactuator shapes, and dynamically characterizing ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996.

.... to collect statistical data to characterize a complex mechanical process was done in the context of estimating pose statistics for polyhedral parts dropped from random orientations on a flat surface [4] From a design optimization standpoint, the work closest to ours is that of Berkowitz and Canny [5, 6] who used Impulse to optimize the design of a passive parts orienting device. From a modeling standpoint, Boothroyd [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 ....

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996.

No context found.

Berkowitz, D. R. and Canny, J. (1996). Designing parts feeders using dynamic simulation. In Proc. 1996 IEEE Intl. Conf. on Robotics and Automation, pages 1127--1132.

No context found.

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1127--1132, 1996.

No context found.

D. Berkowitz and J. Canny. Designing parts feeders using dynamic simulation. In IEEE International Conference on Robotics and Automation, pages 1127--1132, 1996.

No context found.

D. R. Berkowitz and J. Canny. Designing Parts Feeders Using Dynamic Simulation. In IEEE International Conference on Robotics and Automation, Vol.2, p.1127-32, Minneapolis, MN, April, 1996.

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