| Abstract [eng] |
In this dissertation, a method for vibratory transport on inclined and horizontal harmonically oscillating planes is proposed, based on the periodic dynamic control of dry friction. The method creates a controlled asymmetry of frictional conditions within each oscillation cycle, generating a net frictional force sufficient to overcome the tangential component of gravity and drive particles upwards on an inclined plane, while also enabling controlled directional motion on a plane subjected to harmonic circular motion for omnidirectional transport. Mathematical models were developed to analyse the control parameters that define the transportation characteristics of an object on horizontal and inclined planes. Theoretical, computational, and experimental research demonstrated that precise control of both the speed and direction of object motion can be achieved by appropriately adjusting key parameters governing frictional properties, such as the phase shift between the dry friction control function and the harmonic oscillations, and the width of the phase interval over which friction is modified. The experimental results provided both qualitative and quantitative validation of the models, showing that the motion parameters exhibit comparable responses to the control parameters and are in strong agreement with the modelling results. These findings demonstrate the practical applicability of the proposed method for microparticle and granular material transport in bidirectional conveying, feeding, and buffering systems, as well as omnidirectional transport for microassembly and manipulation of delicate components. |
