Air Flow Manipulation

Part handlings based on solid-to-solid contacts such as pick-and-place with a gripper or transporting by a conveyor belt are very common in automation systems. In case of handling frasile or flexible objects, it is required to manipulate an object without using direct solid-to-solid contact between the object and a tool. Introduce an air-jet table that can manipulate a flat object by changing the directions of air injection. Two pairs of simple slider-crank type mechanism are used for changing the direction of air-jets and a simple rule-based control law is used for vision-based position control.