抄録
This paper discusses a dynamic nonprehensile manipulation by using a vibrating plate. The manipulation method, where 2-DOF (degrees of freedom) translational motion of a object on the plate surface is controlled by a single active joint, is proposed. For the plate vibration mechanism, we first introduce the active-passive hybrid joint with viscoelasticity. This mechanism features that the plate vibration direction is variable based on the input frequency of the active joint. We then analytically derive the trajectory of the object on the vibrating plate. Through this analysis, we reveal that 2-DOF translational motion of the object can be controlled by using the variable vibration direction. After showing the relationship between the viscoelasticity of the passive joint and the object's translational velocity, we further discuss the optimum design parameter. Finally, we show experimental result by using the prototype robot, for confirming the validity of the proposed method.
