利用撞击与周期性粘滑实现快速垂直送料，解决重力阻碍难题。
Vertical Vibratory Transport of Grasped Parts Using Impacts
- 结合撞击加速与周期性粘滑，实现抗重力垂直运输。
- 实验验证理论：需高加速度与数倍静态平衡的法向力才能高效运输。
- 适合自动化装配、精密零件传输等需垂直送料的工业场景。
本文通过撞击诱导的加速度结合周期性粘滑运动，成功实现了零件在重力方向上的快速垂直振动运输。理论上证明了垂直振动运输比水平运输更困难，并给出了实现最优垂直运输的设计准则：系统必须能迅速产生高加速度，同时提供至少数倍于静态平衡所需的法向力。此外，对于给定的最大加速度，存在一个最优法向力以实现最佳运输效率。为验证这些理论指导，我们搭建了一个由柔性结构和音圈执行器组成的振动表面，可将磁性滑块加速撞击不同材料以产生冲击。该表面用于对抗重力运输零件，运动追踪数据证实了理论模型的准确性。一系列配备振动表面的平行爪夹具抓取测试进一步验证了设计准则的有效性。
原文摘要 · Abstract (English)
In this paper, we use impact-induced acceleration in conjunction with periodic stick-slip to successfully and quickly transport parts vertically against gravity. We show analytically that vertical vibratory transport is more difficult than its horizontal counterpart, and provide guidelines for achieving optimal vertical vibratory transport of a part. Namely, such a system must be capable of quickly realizing high accelerations, as well as supply normal forces at least several times that required for static equilibrium. We also show that for a given maximum acceleration, there is an optimal normal force for transport. To test our analytical guidelines, we built a vibrating surface using flexures and a voice coil actuator that can accelerate a magnetic ram into various materials to generate impacts. The surface was used to transport a part against gravity. Experimentally obtained motion tracking data confirmed the theoretical model. A series of grasping tests with a vibrating-surface equipped parallel jaw gripper confirmed the design guidelines.
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