Nonprehensile Dynamic Manipulation of Deformable Object with Rheology Characteristics

2014 Fiscal Year Final Research Report

• Project/Area Number: 24360097
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Osaka University
• Principal Investigator: HIGASHIMORI Mitsuru 大阪大学, 工学(系)研究科(研究院), 准教授 (30346522)
• Co-Investigator(Kenkyū-buntansha): TADAKUMA Kenjiro 大阪大学, 大学院工学研究科, 助教 (30508833)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: ダイナミックマニピュレーション / 非把持マニピュレーション / 柔軟物体 / レオロジー特性 / 変形制御

Outline of Final Research Achievements

This work studied a dynamic nonprehensile manipulation of a deformable object, where the shape of a deformable object is controlled by using the plate's rapid vibration. After experimentally confirming the feasibility of the manipulation principle, we introduced a simplified analytical model where a deformable object is modeled by two mass points and the plate has two degrees of freedom. Using this model, we investigated how the object's behavior changes with respect to the amplitude of the rotational angular acceleration of the plate. We showed that the behaviors of the mass points and the whole object are governed by the six non-dimensional boundary amplitudes. Through simulation analysis, we then revealed that the optimal plate's motion leading to the maximal deformation velocity is provided by one of the six boundary amplitudes.

Free Research Field

ロボット工学，知能機械学，ロボットマニピュレーション