Actually this is a subject of further research. I have looked into using more sinusoidal components in the X,Y,theta signals to achieve non-zero force focii at two or more spots on the table simultaneously. --Dan Reznik
You can't solve it this way because the table only has 3 degrees of freedom, and you are imposing 2N constraints, where N is the number of parts you're translating. That is the beauty of the method proposed, i.e., a deceptively simple device achieves great dexterity. To solve this problem, you have to think in terms of the average sliding friction field resulting from a complete closed horizontal vibration.
The key non-obvious feature of this device is that it has only 3 degrees of moving freedom [vibrate along X, Y, and rotate] and yet it can manipulate [displace, rotate] N objects, where N is arbitrarily larger than 3.
One interesting use for the technology is allowing manipulation / parts feeding without overhead, pick-and-place like actuators, resulting in cost savings and added functionality.
One other interesting use of this technology is for novel haptic interfaces. For example, a beer counter that slides a beer glass to a customer's hand upon a gesture. This demo is being planned for the near future.
-Dan Reznik
Slashdot Mirror
Actually this is a subject of further research. I have looked into using more sinusoidal components in the X,Y,theta signals to achieve non-zero force focii at two or more spots on the table simultaneously. --Dan Reznik
You can't solve it this way because the table only has 3 degrees of freedom, and you are imposing 2N constraints, where N is the number of parts you're translating. That is the beauty of the method proposed, i.e., a deceptively simple device achieves great dexterity. To solve this problem, you have to think in terms of the average sliding friction field resulting from a complete closed horizontal vibration.
The key non-obvious feature of this device is that it has only 3 degrees of moving freedom [vibrate along X, Y, and rotate] and yet it can manipulate [displace, rotate] N objects, where N is arbitrarily larger than 3. One interesting use for the technology is allowing manipulation / parts feeding without overhead, pick-and-place like actuators, resulting in cost savings and added functionality. One other interesting use of this technology is for novel haptic interfaces. For example, a beer counter that slides a beer glass to a customer's hand upon a gesture. This demo is being planned for the near future. -Dan Reznik