Sensorless Part Feeding With Round Cages in Two and Three Dimensions

Abstract

This letter investigates “cage feeders”-a new sensorless part orientation method. The individual, unoriented parts are enclosed in rigid, round, vibrated cages, where almost all objects turn spontaneously into a unique orientation under the influence of gravity. An algorithm is presented for the determination of the range of acceptable cage sizes for polygonal or polyhedral parts. The viability of the new orientation method is verified by physical experiments. Cage feeders offer a step toward universal feeders as they are applicable to a new part without a complex adaptation process. In contrast to previously proposed planar universal feeders, they have a simple mechanical setup, and they are applicable to three dimensional (3-D) objects, for which sensorless, universal part feeders have not been developed.