Acoustic Array Robot Based on the Dual-Rotation Mechatronic Design

With the ability to manipulate objects contactlessly, acoustic levitation has excellent potential in the micro-assembly industry. Fixed ultrasonic phased arrays (UPA) widely used in acoustic levitation control objects with restricted space and inflexibility. Here, an acoustic array robot based on the dual-rotation mechatronic design is proposed, combining phase and orientation control of two UPAs. The robot model is established to calculate the coordinates, orientations, and phases of each element of two arrays. The simulation and experimental results show that the proposed robot is feasible and effective, and the robot's maximum controllable levitation areas grow by 183.2% and 43.2% over the fixed array levitator in the
$yoz$
and
$xoz$
planes of the
$\lbrace \mathit{O}\rbrace$
, respectively. This robot will contribute to developing micro-manipulation technology in micro-assembly and other fields.