Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
This paper presents a nonprehensile manipulation method using a vibrating plate. Based on friction property difference, three-DoF (degree of freedom) motion of an object on the plate is generated using a single actuator. First, we show the velocity of the object with respect to the input frequency of the plate vibration. Its characteristics vary depending on the vibrational orbit and the surface friction property of the plate. Then, we discuss velocity vector fields on the plate induced by the combination of non-uniform friction property distribution and the input frequency. For the object placed on the boundary of two areas with different friction properties, the three-DoF motion of the object can be generated. Using a prototype, finally we show experimental results for confirming the feasibility of the proposed method.
