Toppling Manipulation
نویسنده
چکیده
This paper describes a robotic manipulation primitive called toppling—knocking a part over. We derive the mechanical conditions for toppling, express these as constraints on robot contact locations and motions, and describe an application of toppling to minimalist parts feeding of 3D objects on a conveyor with a 2 joint robot.
منابع مشابه
Inexpensive Conveyor-Based Parts Feeding
This paper describes a manipulation primitive called toppling—knocking a part over. We derive the mechanical conditions for toppling and describe two applications to conveyor-based parts feeding. Toppling complements previous approaches to conveyor-plane feeding, allowing full three-dimensional parts feeding on a constant-speed conveyor.
متن کاملStability analysis of block-flexural toppling of rock blocks with round edges
One of the most conventional toppling instabilities is the block-flexural toppling failure that occurs in civil and mining engineering projects. In this kind of failure, some rock columns are broken due to tensile bending stresses, and the others are overturned due to their weights, and finally, all of the blocks topple together. A specific feature of spheroidal weathering is the rounding of th...
متن کاملOn the Complexity of n-player Toppling Dominoes
Why are n-player games much more complex than two-player games? Is it much more difficult to cooperate or to compete? n-player Toppling Dominoes is an n-player version of Toppling Dominoes, a two-player combinatorial game. Because of queer games, i.e., games where no player has a winning strategy, cooperation is a key-factor in nplayer games and, as a consequence, n-player Toppling Dominoes pla...
متن کاملNumerical Modeling of Rock Slopes with a Potential of Block-Flexural Toppling Failure
One of the most important instabilities of rock slopes is toppling failure. Among the types of toppling failure, block-flexural failures are more common instability which occurs in nature. In this failure, some rock blocks break because of tensile stresses, and some overturn under their weights, and next to all of them topple together. Physical and theoretical modeling of this failure is studie...
متن کاملPhysical and theoretical modeling of rock slopes against block-flexure toppling failure
Block-flexure is the most common mode of toppling failure in natural and excavated rock slopes. In such failure, some rock blocks break due to tensile stresses and some overturn under their own weights and then all of them topple together. In this paper, first, a brief review of previous studies on toppling failures is presented. Then, the physical and mechanical properties of experimental mode...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1999