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DOI: 10.1007/s004539910016 Algorithmica (2000) 26: 313344

Summary: DOI: 10.1007/s004539910016
Algorithmica (2000) 26: 313344
2000 Springer-Verlag New York Inc.
Parts Feeding on a Conveyor with a One Joint Robot1
S. Akella,2
W. H. Huang,2
K. M. Lynch,3
and M. T. Mason4
Abstract. This paper explores a method of manipulating a planar rigid part on a conveyor belt using a
robot with just one joint. This approach has the potential of offering a simple and flexible method for feeding
parts in industrial automation applications. In this paper we develop a model of this system and of a variation
which requires no sensing. We have been able to characterize these systems and to prove that they can serve as
parts feeding devices for planar polygonal parts. We present the planners for these systems and describe our
Key Words. Robotics, Manipulation, Mechanics, Planning, Minimalism, Automation, Manufacturing, Parts
1. Introduction. The most straightforward approach to planar manipulation is to use
a rigid grasp and a robot with at least three joints, corresponding to the three motion
freedoms of a planar rigid part, but three joints are not really necessary to manipulate


Source: Akella, Srinivas - Department of Computer Science, University of North Carolina, Charlotte
Lynch, Kevin - Department of Mechanical Engineering, Northwestern University


Collections: Computer Technologies and Information Sciences; Engineering