Passive Non-Prehensile Manipulation of a Specific Object on Predictable Helix Path Based on Mechanical Intelligence
الموضوعات : فصلنامه شبیه سازی و تحلیل تکنولوژی های نوین در مهندسی مکانیکعبدالله باجلان 1 , عادل اکبری مجد 2
1 - کارشناس ارشد، دانشکده فنی مهندسی، دانشگاه محقق اردبیلی
2 - استادیار، دانشکده فنی مهندسی، دانشگاه محقق اردبیلی
الکلمات المفتاحية: Passive motion, Object manipulation, Passive mechanism, Mechanical intelligence, Non-Prehensile, Manipulation,
ملخص المقالة :
Object manipulation techniques in robotics can be categorized in two major groups including manipulation with and without grasp. The aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled. The manipulation path is a screwed track with constant radius and incline. As there is no actuator and active controller in the mechanism, the system requires a kind of mechanical intelligence to navigate the object from initial to goal configuration. This intelligence is achieved by geometry of the object and dynamical and kinematical characteristics if the object and the track. A general set up for the components of the system is considered to satisfy the required conditions. Then after kinematical analysis, detailed dimensions and geometry of the mechanism is obtained. M.SC-ADAMS is exploited to simulate the proposed mechanism
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