Two New Passive Nonprehensile Mechanisms For Object Manipulation in Curved Path

Object manipulation is an important task in robotics and. The traditional scheme of object manipulation is active manipulation wherein the object is grasped by robot hands or by grippers and is manipulated to the goal configuration. In recent years two new approaches including passive and non-prehensile approaches have been introduced in this field. Nonprehensile manipulation means manipulation without grasp and passive manipulation means manipulation without active actuators. In this work, by combining of these new ideas, a passive nonprehensile approach is introduced for manipulation of a specific object in a curved path. To this end two different platforms were introduced. In the first one the object moves down a slope and in the second one the object moves down a helix. For both platforms the relations between objects geometry, inertia and mass with the traveled path is obtained. Consequently, we achieve two simple mechanisms for object manipulation task where the task is done with no energy resource. Dynamical and kinematical analysis is performed and the kinematical results are verified by simulation in ADAMS.