The modeling and motion control of a universal part feeder is addressed. The feeder consists of a flat plate （or called bed） and a part placed on the plate. The bed can vibrate side-by-side （in x axis）, back and f...The modeling and motion control of a universal part feeder is addressed. The feeder consists of a flat plate （or called bed） and a part placed on the plate. The bed can vibrate side-by-side （in x axis）, back and forth （in y axis）, clockwise and counter clockwise （about z axis）, actuated by three linear motors （voice coils）. When the bed does these vibrations, the part placed on the plat will have position and/or orientation change due to the interaction between the two contact surfaces. By controlling the ways in which the plate vibrates, the position and orientation of the part can be controlled. The two vibration profiles of the bed are investigated in the research： the high-low vibration mode and the bang-bang vibration mode. The motion equations of the bed and the part as well as the control schemes for the high-low vibration mode are presented. Both simulation and real-time testing verify the system＇s dynamic model and indicate the feasibilities of the developed control laws.展开更多
文摘The modeling and motion control of a universal part feeder is addressed. The feeder consists of a flat plate （or called bed） and a part placed on the plate. The bed can vibrate side-by-side （in x axis）, back and forth （in y axis）, clockwise and counter clockwise （about z axis）, actuated by three linear motors （voice coils）. When the bed does these vibrations, the part placed on the plat will have position and/or orientation change due to the interaction between the two contact surfaces. By controlling the ways in which the plate vibrates, the position and orientation of the part can be controlled. The two vibration profiles of the bed are investigated in the research： the high-low vibration mode and the bang-bang vibration mode. The motion equations of the bed and the part as well as the control schemes for the high-low vibration mode are presented. Both simulation and real-time testing verify the system＇s dynamic model and indicate the feasibilities of the developed control laws.
