摘要：This paper presents a novel method for convey-ing of miniature and microparts on a subjected to sinusoi-dal displacement cycles in the horizontal direction when the effective coefficient of dry friction between the part and the platform is periodically being controlled. Hereby, the required dynamic directionality is achieved via the system asymmetry created by periodic alteration of the effective coefficient of dry friction between the micropart and the platform. A mathematical model of conveying process is developed and solved numerically to determine the influence of frictional properties, friction control and sinusoidal excitation parameters on the conveying process characteristics. It was found that the velocity and direction of conveying can be easily controlled in a wide range by changing the phase shift between the function of the ef-fective dry friction coefficient and the function of horizon-tal sinusoidal displacement cycles as well as the duration of effective dry friction coefficient reduction. To test the theoretical findings in practise, an experimental setup for micropart conveying with controlled dry friction was cre-ated and build. The experimental results revealed the func-tional capabilities of the proposed method for micropart conveying by demonstrating how the velocity, direction and step size are controlled by regulating the parameters of friction control and sinusoidal excitation. The proposed method can be practically used in conveying, feeding, manipulation and assembly systems for miniature and microparts in the mechatronics, elec-tronic and other industries.
