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A Minimalist Planar Manipulator

A Minimalist Planar Manipulator. Dan S. Reznik & Prof. John Canny UC-Berkeley June, 2000. The art of design: versatility vs. simplicity. Actuator arrays. Minimalism.

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A Minimalist Planar Manipulator

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  1. A Minimalist Planar Manipulator Dan S. Reznik & Prof. John Canny UC-Berkeley June, 2000

  2. The art of design:versatility vs. simplicity

  3. Actuator arrays

  4. Minimalism Minimal art involved a pure and clear demonstration of sculpture in its barest form. The materials they used were often simple items like Styrofoam, firebricks, or light bulbs. They used recognizable geometric shapes to represent form and style in their work.

  5. (x,y,q) 1 horizontal, rigid plate enough?

  6. Talk outline • 1d part feeding • System details • Extending to 2d manipulation • “it’s possible” • Refining 2d method • “local” fields • Demo, summary

  7. vp vs 1d Parts Feeding

  8. Asymmetry Bang-bang +mmg 62% 56% -mmg

  9. Coulomb Pump

  10. Equilibrium veq

  11. Viscosity f a (v-veq)

  12. Straight-Line Feeding

  13. Circular Feeding

  14. Anything Goes

  15. Interesting Apps • Novel “tangible” UI’s • Force feedback (viscosity is free) • Active desk • Fancy product displays • Rotate wine bottles • Fluid-based micro manipulation

  16. The System B/W camera Teklam 1” H/C 50 lbf voice coils Newport Optical Table

  17. Table Dynamics

  18. PC Interface video capture A/D signal generation

  19. Image Processing • Plate edges • Coin positions • Initial • tracking

  20. Accelerometers

  21. x1,y1 cor x2,y2 COR calibration

  22. Signal Generation • 2 PIC16c76 • PC downloads waveform samples • 4 d/a: pwm out • Phase precision

  23. From 1d feedingto2d parallel manipulation

  24. Force vs. Amplitude 24%

  25. Rotation Fields

  26. Force vs Radius peak velocity force/cycle radius

  27. Non-Rigid Flow

  28. Pulse it: vpart 0

  29. Pulsed Rotation

  30. C Measured Displacements

  31. Velocity Field Family Cx , Cy , k

  32. Velocity: closed under sum

  33. Force: not closed!

  34. Sum Families

  35. Sum Families: fixed centers

  36. Parallel Manipulation N parts => 2N constraints

  37. Our Idea • Horizontal Plate: 3 dof • Task: move N-parts • Propose: Sum 2N rotations! • Satisfy 2N constraints

  38. U V (U+V) q O(2) q’ Sum  Concatenation q’ = (U+V) q = V Uq + O(2)

  39. Concatenate Rotations C2 C1 P2’ P1 P2 P1’ C4 C3

  40. Sequence Rotations (1) C1

  41. Sequence Rotations (2) C2

  42. Sequence Rotations (3) C3

  43. C4 Sequence Rotations (4)

  44. Simulation

  45. C4 Cross Talk

  46. C -C “Local” Field

  47. f1+f2 Radial Jamming

  48. “Local” Field

  49. Localized Forces Video

  50. Local Field Affordances • Reduces cross talk • Round-robin + vision feedback • Faster execution • N parts => N pulses • Blend • Robustness, robustness, robustness!

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