This award is to develop and experimentally validate a rule-based algorithm for the dynamics of mechanical part orienting and positioning operations found in such systems as manipulator pushing a part and parts-feeders. The algorithm will serve as an analysis and design tool for these systems. The algorithm will consider the boundary representation of the parts and manipulator as an integral component of the system dynamics. The kinematic constraint changes found in these systems can be algorithmically handled by the development of rules. The dynamic equations of motion can be reformulated to provide a continuous simulation of the systems motion. The motions required for a manipulator to push a part into a predescribed orientation will be planned with the aid of the algorithm and physically implemented. The physical implementation of the planned manipulator pushing operations will be recorded with a spin physics 2,000 high speed camera and compared to the simulated motion. The significance of the research is two-fold. First, the research will develop a rule-based algorithm to simulate dynamic mechanical systems with changing kinematic constraints. Second, it will obviate a present bottleneck to flexible manufacturing by developing a tool, which considers the dynamic inertial effects and changing kinematic constraints, to plan motion strategies for manipulator part orienting operations, and to design parts-feeders.
