Model of Angular Object Positioning Process by a System of Oblique Friction Force Fields on Parallel Planes

Abstract

The primary contribution of the paper is a proposal of a method to minimize the angular positioning error in the process of transferring cuboidal objects between oblique friction force fields generated by two conveyors located on parallel planes. The research included infeed conveyors with two variants of inputs: angular and straight. It was assumed that the object, while moving between oblique conveyors at different heights, performs a 3D movement. The object is treated as a rigid body with a soft base, edges, and corners that can be subjected to significant local deformations. A modified nonlinear Kelvin model was used to describe the normal reaction forces at the contact points of the object with the bearing surfaces of the conveyors, and the modified static Bengisu–Akay friction model represents the tangential forces. Research shows that the use of a slight offset between the bearing surfaces of the conveyors and the highest possible proportion between the motion velocities of the infeed and outfeed conveyors have positive effect on improving the angular precision of the positioned objects. This conclusion applies to both variants of the infeed conveyor inputs. The results of the research have practical application in the design of high-performance conveyor transport systems, used in the processes of picking cuboidal objects, requiring a strictly defined angular orientation.