Semi-distributed manipulation on a friction force field

Distributed manipulation is one of several approaches for the handling of multiple parts, especially when the part size is small therefore gripper-free manipulation is preferred. This paper introduces a modified method, called "semi-distributed manipulation" in which a set of centralized actuation units supplies a friction force field in combination with a distributed force switching mechanism. To implement the method, we have developed an array of pneumatic nozzles with two piezoelectric actuators. Vibratory manipulation is analyzed for part translation, rotation and their combination. The design of the force field over the 2-dimensional nozzle array is formulated as an optimization problem, and its extension to parallel manipulation is discussed