用非对称振动实现抓取物二维运动，可同时平移和旋转。
Two Degree-of-Freedom Vibratory Transport in a Grasp
- 通过闭环控制移动表面产生周期性粘滑波形驱动零件
- 实验验证了粘滞与滑动加速度影响平均速度的理论趋势
- 适用于需精准操控的小型零件，如装配或微操作
本文利用非对称振动实现抓取物的二维自由度（2-DoF）在手操控。非对称振动通过移动表面的闭环位置控制实现，对被操控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——粘滞加速度和滑动加速度——在对抗重力时对零件平均速度的影响。理论趋势通过实验验证：在夹持力受控条件下，使用高分辨率编码器记录零件运动。此外，我们开发了一种可实现单方向平移及绕法向旋转的2-DoF振动表面。将两个此类表面置于平行爪夹具中，成功实现了多种被抓物体的双向平移与旋转，且发现平移中的波形规律同样适用于平面内旋转。
原文摘要 · Abstract (English)
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.
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