Publication: Non-contact manipulator using acoustic-based levitation
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Date
2023-08
Authors
Lim, Keng Yang
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Abstract
Non-contact manipulation is a key technique to handle and transport objects that are deemed delicate, fragile, and hazardous. To name a few found in the prior-arts, magnetic levitation, acoustic levitation, aerodynamic levitation and lastly, electrostatic levitation are the non-contact manipulation techniques which have been continuously researched. Acoustic levitation is one of the non-contact manipulation method in which non-metallic objects can be manipulated, paving potential application across diverse industrial needs. This levitation technique is essential to manipulate fragile and light weighted objects such as surface mount device (SMD) without damaging or contaminating them. However, this levitation is not popular in automation field as it requires manual initiation. Hence, this final year project is to design a non-contact manipulator using acoustic-based levitation, also called acoustic gripper. This gripper will be able to pick up
and transport objects without making physical contact right from the start, and without the initial assistance from human. The design will be comprised of two main parts; levitator and catcher. Levitator is used to pick up object from ground to mid-air, while catcher is used to handle object throughout the operation steadily. All acoustic waves are generated by 40kHz ultrasonic transducers controlled by Arduino Uno. At the end of this research, its performance has been evaluated and analysed. The strength of the acoustic gripper was tested by measuring its ability to withstand acceleration/deceleration of up to 39.7 ms-2, by
subjecting the acoustic gripper on a specially devised moving cart. The inspection was made to observe whether the acoustically gripped subject can be still retained before it falls off from the ‘gripping field’. The achievement made in this project was the ability to accomplish the acoustic gripping feat by merely commissioning 16 transducers (as compared to 72 transducers found in the prior arts). The project was concluded by discussing its potential for various application in different field such as pharmaceutical or manufacturing industry.