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9

TROB
2002

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Stable limit sets in a dynamic parts feeder

13 years 4 months ago

Stable limit sets in a dynamic parts feeder

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We describe a one-joint planar arm which repeatedly throws and catches parts on its surface, and we demonstrate that proper choice of the throw velocity and arm geometry guarantees that the part will enter a unique recurrent motion pattern from a large set of initial configurations. The resulting system resembles an open-loop stable juggler of polygonal parts. Combined with a simple 1-bit sensor, the system can be used as a parts feeder.

Kevin M. Lynch, Michael Northrop, Peng Pan

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Arm Geometry Guarantees | One-joint Planar Arm | Recurrent Motion Pattern | TROB 2002 |

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Added	23 Dec 2010
Updated	23 Dec 2010
Type	Journal
Year	2002
Where	TROB
Authors	Kevin M. Lynch, Michael Northrop, Peng Pan

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