Advertisement

Two Approaches to Distributed Manipulation

  • Mark Yim
  • Jim Reich
  • Andrew A. Berlin

Abstract

Two radically different approaches to distributed manipulation are reviewed. They each address scalability and manufacturing issues while producing forces sufficient to move macro-scale objects in different ways. The airjet system achieves scalability and manufacturability through macro-scale planar batch fabrication technology while PolyBot is modular, enabling mass production. Where PolyBot is suited to couple to non-planar objects through variable out-of-plane motion of the cilia, airjets are optimized for manipulation of planar objects with delicate surface features. The designs of both systems are well suited to hierarchical computation and communication to enable scalability without an explosion in the resource requirements.

Keywords

Planar Object Stroke Length Hold Action Batch Fabrication Angle Left 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Berlin, A., Biegelsen, D., Cheung, P., Fromherz, M., Goldberg, D., Jackson, W., Panides, E., Preas, B., Reich, J., and Swartz, L. (1999). Paper transport using modulated airjet arrays. In Proceedings of the IS&T NIP15 Int. Conf. on Digital Printing Tech.Google Scholar
  2. Biegelsen, D., Cheung, P., Swartz, L., Jackson, W., Berlin, A., and Lau, R. (1999). High performance electrostatic air valves formed by thin-film lamination. In Proceedings of the ASME IMECE, Nashville,TN. Forthcoming.Google Scholar
  3. Biegelsen, D., Jackson, W., Berlin, A., and Cheung, P. (1997). Air jet arrays for precision positional control of flexible media. In Int. Conf. on Micromechatronics for Information And Precision Equipment (MIPE’97), Tokyo, Japan.Google Scholar
  4. Böhringer, K.-F., Donald, B. R., and MacDonald, N. C. (1996). Single-crystal silicon actuator arrays for micro manipulation tasks. In Proc. IEEE Workshop on Micro Electro Mechanical Systems (MEMS), pages 7–12, San Diego, CA.Google Scholar
  5. Böhringer, K.-F., Donald, B. R., MacDonald, N. C., Kovacs, G. T. A., and Suh, J. W. (1997). Computational methods for design and control of MEMS micromanipulator arrays. IEEE Computer Science and Engineering, pages 17–29.Google Scholar
  6. Cheung, P., Berlin, A., Biegelsen, D., and Jackson, W. (1997). Batch fabrication of pneumatic valve arrays by combining mems with printed circuit board technology. In Proc. Symposium on Micro-Mechanical Systems, ASME International Mechanical Engineering Congress and Exhibition, pages 16–21, Dallas, TX.Google Scholar
  7. Kavraki, L. (1997). Part orientation with programmable vector fields: Two stable equilibria for most parts. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Albuquerque, New Mexico.Google Scholar
  8. Konishi, S. and Fujita, H. (1993). A proposal for a conveyance system with autonomous decentralized micro modules. In IEEE International Symposium on Autonomous Decentralized Systems, Kawasaki, Japan.Google Scholar
  9. Liu, C., Tsao, T., Will, P., Tai, Y., and Liu, W. (1995). A micro-machined magnetic actuator array for micro-robotics assembly systems. In Transducers — Digest Int. Conf. on Solid-State Sensors and Actuators, Stockholm, Sweden.Google Scholar
  10. Luntz, J. E., Messner, W., and Choset, H. (1997). Parcel manipulation and dynamics with a distributed actuator array: The virtual vehicle. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pages 1541–1546, Albuquerque, New Mexico.Google Scholar
  11. Suh, J. W., Glander, S. F., Darling, R. B., Storment, C. W., and Kovacs, G. T. A. (1996). Combined organic thermal and electrostatic omnidirectional ciliary microactuator array for object positioning and inspection. In Proc. Solid State Sensor and Actuator Workshop, pages 168–173, Hilton Head, SC.Google Scholar
  12. Yim, M. (1994a). Locomotion with a Unit Modular Reconfigurable Robot. PhD thesis, Dept. of Mechanical Engineering, Stanford University, Stanford, California.Google Scholar
  13. Yim, M. (1994b). New locomotion gaits. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), San Diego, CA.Google Scholar

Copyright information

© Springer Science+Business Media New York 2000

Authors and Affiliations

  • Mark Yim
  • Jim Reich
  • Andrew A. Berlin

There are no affiliations available

Personalised recommendations