Planar parts shaker

The apparatus vibrates a platform in three planar dimensions - two translations and one rotation - according to a desired waveform.

The vibrations are intended to transport, position, and reorient a small part, here represented as a white block.

Three speaker cones are used as drivers. The geometry of the arms that couple to the speaker cones to the platform creates the 3d motion of the platform.

Both the speakers and the platform mechanism are imperfect. Accelerometers are mounted on the cones and on the platform.

Signals from these accelerometers are used to iteratively adjust the driving waveforms, to accomplish the desired motions of the platform

This board processes the accelerometer signals.

This movie shows the desired acceleration (blue), the measured acceleration (red), and the control signal imposed (green):

• CVID Cinepak video

In successive short runs, the control signal is adjusted to bring the measured acceleration closer to the desired acceleration. Acelerations are shown for all three speakers and several points along the platform.

Actual operation of system:

• WMV video
• DivX video

• Technical files