抄録
This paper discusses a dynamic nonprehensile manipulation by using a vibrating plate. The omnidirectional manipulation for an object on the plate surface by a single active joint, is proposed. For the plate vibration mechanism, we introduce the nonparallel type active-passive hybrid joint with viscoelasticity. We show that the omnidirectional manipulation can be achieved by controlling three input parameters of the active joint: the frequency, the amplitude, and the offset angle. After showing the relationship between three control parameters and the object's translational velocity, we further discuss the optimum design parameters, including the viscoelasticity of the passive joint. Finally, we show experimental result by using the prototype robot, for confirming the validity of the proposed method.
