Ryohei Sakashita

1-Actuator 3-DoF parts feeding using hybrid joint mechanism with twisted axis layout

This paper proposes a nonprehensile manipulation scheme using the vibration of a plate, where a 3-DoF (degree of freedom) motion of a part is controlled using a single actuator. A manipulator is introduced, the end effector of which is a flat plate. The manipulator employs a hybrid joint mechanism w…