Dynamic nonprehensile shaping of a thin rheological object

This paper describes a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin rheological object is dynamically controlled by the combination of the inertial force and the frictional one generated by the plate´s rapid motion. We first introduce a one-dimensional viscous model to approximate the object deformation characteristics, focusing on the final shape of the object. Assuming that the plate has two degrees of freedom: a translational motion and a rotational one, we derive two sufficient conditions to deform the object: one to enlarge it and the other to contract it. Then, we show the plate´s cyclic motion leading to the object´s continuous deformation. Finally, simulation and experimental results are shown in order to verify the proposed method.