Parts feeding on a conveyor with a one joint robot

This, paper explores a method of manipulating a planar rigid part on a conv eyor belt using a robot with just one joint. This approach has the potentia l of offering a simple and flexible method for feeding parts in industrial automation applications. In this paper we develop a model of this system an d of a variation which requires no sensing. We have been able to characteri ze these systems and to prove that they can serve as parts feeding devices for planar polygonal parts. We present the planners for these systems and d escribe our implementations.