Contactless Manipulation of an Object on a Plane Surface using Multiple Air Jets
We propose a technology for manipulating the position and orientation of an object in a contactless manner over an extended range. This technology involves multiple ejectors that stream jets of compressed air onto an object from various directions. By regulating the air jet directions and flow rates, the object can be actively “force closured and its position and orientation can be manipulated freely. As the first step of this research, in this paper, we discuss technological challenges for this method. Next we provide a preliminary investigation with one degree-of-freedom planar experimental system using a continuous and a PWM air jet ejection method. Based on this investigation, we examine problems relating to the use of three air nozzles to control the position of a cylindrical object in two degrees of planar freedom.
Satoshi Iwaki Hiroshi Morimasa Toshiro Noritsugu Minoru Kobayashi
Hiroshima City University,Hiroshima,Japan Okayama University,Okayama,Japan NTT Cyber Solution Laboratory,Kanagawa,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3257-3262
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）