| This dissertation is about a novel technology for planar part manipulation. A device has been developed, called the Universal Planar Manipulator (UPM), based on a single actuator: a rigid, horizontal plate which vibrates in its own plane (3 degrees of freedom). Generic parts (bottles, tools, etc.) placed on the UPM's plate move as a result of friction. Our main contribution has been to develop control algorithms for the UPM which allow it to manipulate several parts in parallel. The UPM's actuation simplicity combined with its open workspace (no grippers) renders it appealing to existing industrial applications and novel interactive devices such as toys and active desks. |
