抓取中的两自由度振动运输
Two Degree-of-Freedom Vibratory Transport in a Grasp
AI总结：
利用非对称振动实现抓取零件的两自由度（DoF）手内操作，通过闭环位置控制产生周期性粘滑波形，分析波形参数对平均速度的影响，并用实验验证。
摘要：
在本文中，我们利用非对称振动演示了抓取零件的两自由度（DoF）手内操作。非对称振动通过移动表面的闭环位置控制实现，该表面向待操作零件施加周期性粘滑波形。我们从理论上分析了两个振动波形参数——粘附加速度和滑动加速度——如何影响零件在对抗重力运动时的平均速度。然后使用实验装置验证理论趋势，其中挤压力受控，零件运动由高分辨率编码器记录。我们还开发了一个2-DoF振动表面，能够在一个方向平移并绕表面法线旋转。在平行爪夹持器配置中使用两个这样的2-DoF表面，我们双向平移和旋转各种抓取零件，并证明相同的平移波形趋势也适用于面内旋转。
英文摘要：
In this paper, we use asymmetric vibrations to demonstrate two degree-of-freedom (DoF) in-hand manipulation of grasped parts. The asymmetric vibrations are achieved through closed-loop position control of a moving surface, which applies a periodic stick-slip waveform to the part to be manipulated. We show analytically how two vibratory waveform parameters, the sticking acceleration and the slipping acceleration, affect average part velocity when moving against gravity. The theoretical trends are then validated using an experimental setup where the squeeze force is controlled and part motion is recorded by a high-resolution encoder. We also develop a 2-DoF vibratory surface capable of translation in one direction and rotation about the surface normal. Using two of these 2-DoF surfaces in a parallel jaw gripper configuration, we bidirectionally translate and rotate a variety of grasped parts, as well as demonstrate that the same waveform trends for translation also persist for in-plane rotation.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
