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Intelligent Service Robotics

, Volume 8, Issue 3, pp 151–163 | Cite as

A survey of non-prehensile pneumatic manipulation surfaces: principles, models and control

  • Guillaume J. Laurent
  • Hyungpil MoonEmail author
Special Issue

Abstract

Many manipulation systems using air flow have been proposed for object handling in a non-prehensile way and without solid-to-solid contact. Potential applications include high-speed transport of fragile and clean products and high-resolution positioning of thin delicate objects. This paper discusses a comprehensive survey of state-of-the-art pneumatic manipulation from the macro scale to the micro scale. The working principles and actuation methods of previously developed air-bearing surfaces, ultra-sonic bearing surfaces, air-flow manipulators, air-film manipulators, and tilted air-jet manipulators are reviewed with a particular emphasis on the modeling and the control issues. The performance of the previously developed devices are compared quantitatively and open problems in pneumatic manipulation are discussed.

Keywords

Pneumatic manipulation Non-prehensile manipulation  Air-jet array 

List of symbols

\(\alpha \)

Object orientation

\(\lambda \)

Surface flow

\(\mu \)

Dynamic viscosity of air

\(\rho \)

Air density

\(\theta \)

Inclination angle of the nozzles from the vertical

A

Cross-sectional area of the object

a

Section area of a nozzle

\(C_\mathrm{D}\)

Drag coefficient

\(C_\mathrm{F}\)

Friction coefficient

\(C_\mathrm{P}\)

Propulsive force coefficient

\(F_\mathrm{D}\)

Drag force

\(F_\mathrm{L}\)

Lifting force

\(F_\mathrm{P}\)

Propulsive force

h

Levitation height

M

Propulsive moment

m

Object mass

n

Number of sinks or air-jets

p

Pressure beneath the object

\(q_{e}\)

Volume rate flowing through a nozzle

S

Under surface area of the object

T

Transmission matrix

U

Horizontal velocity field of the flow over the surface

\(U_{e}\)

Exit speed of air in nozzle

V

Object speed along direction X

x

Object position along direction X

y

Object position along direction Y

Notes

Acknowledgments

This work was supported in France by the Smart Blocks project (ANR-251-2011-BS03-005), by Labex ACTION Project (ANR-11-LABX-01-01) and by Région de Franche-Comté, and in Korea by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science, and Technology (2013R1A1A2013636). Hyungpil Moon was a recipient of Erasmus Mundus scholarships recommended by Prof. Nadine Le Fort-Piat at ENSMM, France.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.FEMTO-ST Institute, Automation and Micro-Mechatronics Systems Department UMR CNRS 6174, ENSMMUniversité de Franche-ComtéBesançonFrance
  2. 2.School of Mechanical EngineeringSungkyunkwan UniversitySuwonKorea

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