Tapping Micropositioning Cell

Tapping is a mode of manipulation well suited to certain tasks such as micropositioning. If you want to make a small adjustment to the position of an object, you can give it a small tap. The basic physics of tapping an object involve impact followed by sliding. In our research, we are developing algorithms that incorporate an understanding of the mechanics and underlying strategies for tapping.

We are creating a robotic positioning system based on this mode of manipulation. Suppose we have a special "tapping actuator" that can release a rod that strikes an object. We are building a number of such actuators that can deliver taps of different strengths and then automatically reset themselves.

Imagine a "tray" which is surrounded by several tapping actuators. We can then put a part in this tray, measure its position, and then fire one of the tapping actuators. By repeating this process, we can position that part very accurately on this tray.

The research questions in this project are how to devise an algorithm that will position parts with the fewest number of taps. There are also problems related to the configuration of the micropositioning cell. For example, where is the best place to put the tapping actuators? Or even: given a part, how many tapping actuators are needed?

This work is supported by the National Science Foundation through award IIS-9977562.