Abstract The paper presents a model of the process of angular positioning of cuboidal objects using a system of two oblique friction force fields produced by the conveyor belts located on parallel planes a and b, offset vertically by value H. It has been assumed that, while moving from friction force field a to lower placed field b, the object performs a 3D motion and comes into contact with the friction force fields at the corners, edges or the base surface. The object is treated as a rigid body with a soft surface of the bottom, which can be subjected to significant local deformations when interacting with obstacles. Two continuous collision models were used to describe the normal reaction forces at the contact points of the object with the bearing surfaces of the conveyors: the nonlinear MSC Adams model and the modified nonlinear Kelvin model. In addition, three friction models were included, i.e. two static Bengisu-Akay and MSC Adams models and one dynamic LuGre model. Numerical and experimental research demonstrate that the use of friction force fields with vertical offset of a short distance (e.g. H = 0.005 m) enhances the rotation angle Φ minimization of the object positioned.

中文翻译：

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通过水平和垂直偏移平面上的斜摩擦力场系统定位物体的模型

摘要 本文提出了使用由位于平行平面 a 和 b 上的传送带产生的两个倾斜摩擦力场系统的立方体物体角定位过程模型，垂直偏移值 H。从摩擦力场 a 移动到较低的放置场 b，物体执行 3D 运动并与角落、边缘或基面的摩擦力场接触。该物体被视为具有底部柔软表面的刚体，当与障碍物相互作用时，它会受到显着的局部变形。两种连续碰撞模型用于描述物体与输送机轴承表面接触点处的法向反作用力：非线性 MSC Adams 模型和修正的非线性 Kelvin 模型。此外，还包括三个摩擦模型，即两个静态 Bengisu-Akay 和 MSC Adams 模型和一个动态 LuGre 模型。数值和实验研究表明，使用具有短距离垂直偏移（例如 H = 0.005 m）的摩擦力场增强了定位对象的旋转角 Φ 最小化。