The modeling and motion control of a universal part feeder is addressed. The feeder con-sists of a flat plate (or called bed) and a part placed on the plate. The bed can vibrate side-by-side (in xaxis), back and forth (in y axis), clockwise and counter clockwise (about z axis), actuated by threelinear motors (voice coils). When the bed does these vibrations, the part placed on the plat will haveposition and/or orientation change due to the interaction between the two contact surfaces. By con-trolling the ways in which the plate vibrates, the position and orientation of the part can be controlled.The two vibration profiles of the bed are investigated in the research: the high-low vibration mode andthe bang-bang vibration mode. The motion equations of the bed and the part as well as the controlschemes for the high-low vibration mode are presented. Both simulation and real-time testing verifythe system’s dynamic model and indicate the feasibilities of the developed control laws.
展开▼
