Robotic manipulation system utilizing fluidic patterning
AssigneeThe MITRE Corporation
InventorJohann M. Schleier-Smith
Life of this patent
Estimating the term…
Abstract
A system (100, 100′) and method for robotic manipulation of objects (130) is provided wherein a liquid (110, 110′) is agitated by the transfer of energy thereto for establishing an oscillatory motion instability in the liquid (110, 110′). The energy input into the liquid (110, 110′) forms standing waves (112). The objects (130) align themselves with nodes of the standing waves (112) and thus are dynamically arranged in a configuration established by the location of the standing waves (112). The location of the standing waves (112) can be predetermined by controlling the energy input by energy application system (140) and the size and shape of the container (120). Predetermined waveforms are supplied from the signal source (150, 154) to the energy application system (140).
Claims24
A system for robotic manipulation of a plurality of objects, comprising:
- a container for receiving the objects therein;
- a liquid layer disposed in said container, the objects being disposed on a surface thereof;
- means for applying energy to said liquid to establish oscillatory motion thereof sufficient to form a plurality of repeating vertically directed standing waves;
- and,
- signal means coupled to said energy application means for supplying said energy with predetermined waveforms to dynamically position said standing waves in a predetermined pattern, said predetermined pattern of said standing waves dynamically arranging the objects in a predetermined configuration on said surface of said liquid.
A system for robotic manipulation of a plurality of objects, comprising:
- a container for receiving the objects therein;
- at least a pair of fluid layers disposed in said container, at least one of said fluid layers being formed by a liquid, the objects being disposed adjacent an interface between said pair fluid layers;
- means for applying energy to said liquid to establish oscillatory motion thereof sufficient to form a plurality of repeating vertically directed standing waves;
- and,
- signal means coupled to said energy application means for supplying said energy with predetermined waveforms to dynamically position said standing waves in predetermined patterns, said predetermined patterns of said standing waves dynamically arranging the objects in a predetermined configuration on said surface of said liquid.
A method for robotic manipulation of a plurality of objects, comprising the steps of:
- a. providing a container;
- b. providing at least two fluid layers in said container, at least one of said fluid layers being formed by a liquid;
- c. adding said objects to be manipulated to said container, said objects being disposed adjacent an interface between said liquid layer and said other fluid layer adjacent to said liquid layer;
- d. agitating said liquid with energy having a predetermined first waveform to generate a first standing wave pattern therewith, said standing wave pattern of liquid dynamically arranging said objects;
- and,
- e. positioning a substrate in said container, said substrate being adapted for adhesion of said objects thereto.
Dependencies are inferred from the claim text.