Optimal vibratory stick-slip transport

We describe a vibratory part transport mechanism that utilizes both static and dynamic friction to linearly transport parts in a horizontal direction. We derive a horizontal driving profile for the feeder surface that maximizes the steady-state velocity of parts on the surface subject to acceleration limits on the surface. Experiments verify the predicted transport behavior. We then derive the optimal feeding motion for a Surface that can move in both the horizontal and vertical directions. Note to Practitioners - One type of vibratory conveyance, popular in industrial parts feeding and presentation, makes use of friction and sliding between the part and the support surface. This paper gives the surface vibratory motions that maximize the speed of transport. It also describes an experimental implementation and a control algorithm for achieving the desired vibratory motion.