Acoustic Array Robot Based on the Dual-Rotation Mechatronic Design

被引：3

作者：

Fan, Shuyuan ^{[1
]}

Jiang, Liangxu ^{[1
]}

Chen, Yiwei ^{[1
]}

Qiao, Boyang ^{[1
]}

Wang, Yingwei ^{[1
]}

Li, Xinbo ^{[1
]}

机构：

[1] Jilin Univ, Coll Commun Engn, Changchun 130022, Peoples R China

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2024年 / 9卷 / 07期

关键词：

Acoustic levitation; micro-manipulation robot; mechatronic joint control; contactless manipulation;

D O I：

10.1109/LRA.2024.3401027

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

With the ability to manipulate objects contactlessly, acoustic levitation has excellent potential in the micro-assembly industry. Fixed ultrasonic phased arrays (UPA) widely used in acoustic levitation control objects with restricted space and inflexibility. Here, an acoustic array robot based on the dual-rotation mechatronic design is proposed, combining phase and orientation control of two UPAs. The robot model is established to calculate the coordinates, orientations, and phases of each element of two arrays. The simulation and experimental results show that the proposed robot is feasible and effective, and the robot's maximum controllable levitation areas grow by 183.2% and 43.2% over the fixed array levitator in the yoz and xoz planes of the {O}, respectively. This robot will contribute to developing micro-manipulation technology in micro-assembly and other fields.

引用

页码：6202 / 6207

页数：6

共 26 条

[1] Acoustic levitation in mid-air: Recent advances, challenges, and future perspectives [J].

Andrade, Marco A. B. ;

Marzo, Asier ;

Adamowski, Julio C. .

APPLIED PHYSICS LETTERS, 2020, 116 (25)

[2] Two-Gimbal PAT: An artistic installation combining mechanical and acoustic rotation of levitated content [J].

Ben, Kazemi ;

Roberto, Montano Murillo ;

Diego, Martinez Plasencia .

EXTENDED ABSTRACTS OF THE 2022 CHI CONFERENCE ON HUMAN FACTORS IN COMPUTING SYSTEMS, CHI 2022, 2022,

[3] Assembly of 3D micro-components: a review of recent research [J].

Bogue, Robert .

ASSEMBLY AUTOMATION, 2011, 31 (04) :309-314

[4] Acoustofluidics 7: The acoustic radiation force on small particles [J].

Bruus, Henrik .

LAB ON A CHIP, 2012, 12 (06) :1014-1021

[5] Micromotor Manipulation Using Ultrasonic Active Traveling Waves [J].

Cao, Hiep Xuan ;

Jung, Daewon ;

Lee, Han-Sol ;

Go, Gwangjun ;

Nan, Minghui ;

Choi, Eunpyo ;

Kim, Chang-Sei ;

Park, Jong-Oh ;

Kang, Byungjeon .

MICROMACHINES, 2021, 12 (02)

[6]

Craig J.J., 2022, Introduction to robotics: Mechanics and control

[7] Nonlinear trapping stiffness of mid-air single-axis acoustic levitators [J].

Fushimi, T. ;

Hil, T. L. ;

Marzo, A. ;

Drinkwater, B. W. .

APPLIED PHYSICS LETTERS, 2018, 113 (03)

[8] A volumetric display for visual, tactile and audio presentation using acoustic trapping [J].

Hirayama, Ryuji ;

Plasencia, Diego Martinez ;

Masuda, Nobuyuki ;

Subramanian, Sriram .

NATURE, 2019, 575 (7782) :320-+

[9]

Jeger-Madiot N, 2021, SCI REP-UK, V11, DOI 10.1038/s41598-021-87459-6

[10] Acoustic levitation and rotation of thin films and their application for room temperature protein crystallography [J].

Kepa, Michal W. ;

Tomizaki, Takashi ;

Sato, Yohei ;

Ozerov, Dmitry ;

Sekiguchi, Hiroshi ;

Yasuda, Nobuhiro ;

Aoyama, Koki ;

Skopintsev, Petr ;

Standfuss, Jorg ;

Cheng, Robert ;

Hennig, Michael ;

Tsujino, Soichiro .

SCIENTIFIC REPORTS, 2022, 12 (01)

← 1 2 3 →