Parts Feeding
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Reconfigurable Parts Feeders

I am developing reconfigurable parts orienting nests that are modular and composed of simple electromechanical elements. These devices, which we call Pachinko Machines will automatically catch and orient dropped parts of known shape using a grid of actuated pins on a vertical plate. We use a configuration space representation of the part and nest geometry to compute stable part configurations in the nests, their capture regions, and orienting plans. Joint work with Jean Ponce , Sebastien Blind, and Chris McCullough.

  • S. Blind, C. McCullough, S. Akella, and J. Ponce, "Manipulating Parts with an Array of Pins: A Method and a Machine," Robotics Research: The Ninth International Symposium, pp. 123-130, John M. Hollerbach and Daniel E. Koditschek (editors), Springer-Verlag, London, 2000. abstract , gzip postscript (3.13MB).

Srinivas Akella / sakella@cs.rpi.edu

 
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Last modified: March 16, 2001