2-DOF contactless distributed manipulation using superposition of induced air flows

Author

Delettre, Anne ; Laurent, Guillaume J. ; Le Fort-Piat, Nadine

Author_Institution

Autom. Control & Micro-Mechatron. Syst. Dept., Univ. de Franche-Comte, Besanon, France

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

5121

Lastpage

5126

Abstract

Many industries require contactless transport and positioning of delicate or clean objects such as silicon wafers, glass sheets, solar cell or flat foodstuffs. The authors have presented a new form of contactless distributed manipulation using induced air flow. Previous works concerned the evaluation of the maximal velocity of transported objects and one degree-of-freedom position control of objects. This paper introduces an analytic model of the velocity field of the induced air flow according to the spatial configuration of vertical air jets. Then two degrees-of-freedom position control is investigated by exploiting the linearity property of the model. Finally the model is validated under closed-loop control and the performances of the position control are evaluated.

Keywords

closed loop systems; distributed control; manipulator dynamics; mechanical contact; position control; velocity control; 2-DOF contactless distributed manipulation; closed-loop control; contactless transport; degree-of-freedom position control; induced air flow; linearity property; maximal velocity; spatial configuration; superposition method; vertical air jets; Atmospheric modeling; Drag; Levitation; Position control; Position measurement; Valves; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094586

Filename

6094586