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A Universal Planar Manipulator. Dan S. Reznik & Prof. John Canny UC-Berkeley July, 2000. (x,y, q ). 1 horizontal, rigid plate enough?. Velocity Asymmetry. Bang-bang. cos t + 0.5 cos 2t . +m mg. 62%. 56%. -m mg. Coulomb Pump. Straight-Line Feeding. Anything Goes. Interesting Apps.

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a universal planar manipulator

A Universal Planar Manipulator

Dan S. Reznik & Prof. John Canny

UC-Berkeley

July, 2000

velocity asymmetry
Velocity Asymmetry

Bang-bang

cos t + 0.5 cos 2t

+mmg

62%

56%

-mmg

interesting apps
Interesting Apps
  • Novel tangible UI’s
    • Force feedback with viscous feel
    • Active desk
  • Fancy product displays
    • Rotate wine bottles
  • Fluid-based micro manipulation
parallel manipulation
Parallel Manipulation

N parts => 2N constraints

our idea
Our Idea
  • Horizontal Plate: 3 dof
  • Task: move N-parts
  • Proposal: Generate local fields
    • Move parts almost one-by-one
the system
The System

B/W camera

Teklam

1” H/C

50 lbf

voice coils

Newport

Optical Table

pc interface
PC Interface

video

capture

A/D

signal

generation

image processing
Image Processing
  • Plate edges
  • Coin positions
    • Initial
    • tracking
bowtie
Bowtie

(vhs)

summary
Summary
  • Motivation: simplest possible manipulator
  • Use non-linearity of friction and asymmetric motion (few harmonics)
  • Very general parallel manipulator
  • Other suggested apps?