Title

Analytical investigation of the capturing process in the orientation and stacking of parts based on internal features

Document Type

Article

Date of Original Version

12-1-1998

Abstract

Part handling based on internal features has been the forte of vision systems, manual techniques, and preservation of orientation for the past few decades. In this article, an analytical and experimental investigation of the process of orienting and stacking of parts based on their internal features is presented, with emphasis on the mechanics of part motion during the capturing process. Analytical models are presented to give the roles of different variables involved in the capturing process. An experimental setup has also been developed and utilized to verify and better understand the mechanics involved. Results indicate that the whole process is mainly governed by four key variables: backup stack height, the drive wheel profile, the shape and position of capturing guides and the speed of the drive wheel, of which the shape and position of the guide plays the dominant role.

Publication Title

International Journal of Robotics Research

Volume

17

Issue

2

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