Experimental validation of object positioning via stick-slip vibrations

J.A.J.M. van Hoof, J.L.C. Verhaegh, R.H.B. Fey, P.C.F. Meerakker, van de, H. Nijmeijer

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Accurate positioning of an object is important in many industrial applications. This task is usually performed using closed-loop control. Self-alignment of an object using stick-slip vibrations on a periodically excited table might be an alternative open-loop method for macro-scale applications. In this paper, this method is experimentally validated. The table surface consists of two parts: a low friction region and a high friction region. Steady-state motion of the object is developed, when it is on the low friction region of the table. Theory predicts five possible types of steady-state motion. All types have been observed in practice. The positioning principle is to stop the mass due to an increase in friction when it enters the high friction region of the table. Theoretically predicted steady-state and accurate stopping behavior is in accordance with the experimental observations.
Originele taal-2Engels
Pagina's (van-tot)1092-1101
TijdschriftIEEE/ASME Transactions on Mechatronics
Nummer van het tijdschrift3
StatusGepubliceerd - 2014


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