Sensorless Manipulation Using Transverse Vibrations of a PlateKarl -

The existing industrial parts feeders move the parts through a sequence of mechanical lters that reject parts in unwanted orientations. In this paper we develop a new setup that uses a diierent vibratory mechanism to systematically manipulate parts, by actively orienting and localizing them. The idea is to generate and change dynamic modes for a plate by varying the applied frequency of oscillation. Depending on the node shapes of the plate for these frequencies, the position and orientation of the parts can be controlled. We develop an analysis of the underlying dynamics, and show that it can be used to predict the behavior of objects placed on the vibrating plate. Using this analysis , we propose that the applied frequencies can be automatically sequenced to obtain a \sensorless" strategy for manipulating a given object.