Integrated Inverse Dynamics and Optimized Mechanical Design in Underactuated Linear Vibratory Feeders Under Periodic Excitation

Abstract Purpose This paper proposes an integrated method for optimizing the response of underactuated linear vibratory feeders operating in open-loop control, under generic periodic excitations. The goal is ensuring a uniform motion tray, despite presence less actuators than degrees freedom and several specifications desired motion. Method To cope with nature these systems their non-minimum phase behavior, dynamic structural modification inverse dynamics approach are properly by exploiting common definition system internal dynamics. In problem, stabilized through output redefinition resulting ordinary differential equations to compute causal actuation forces, almost-exact tracking as many coordinates number actuators. remaining interest improved proper design mechanical parameters, based on Results effectiveness proposed assessed numerical simulations performed challenging case 14-degrees feeder adopted manufacturing plants convey products. Conclusion results evidence benefits obtained integrating together Inverse effective, since error imposed negligible. On other hand, introduced proved well, reduction also non-imposed coordinates.