Compurers & Swucrures Vol. 62, No. I, pp.

197-203, 1997
Copyright 0 1996 Elsevier Science Ltd
Printed in Great Britain. All rights reserved
PII: SOO45-7949(96)00223-4 004%7949/97 $17.00 + 0.00

ON THE CONVEYING VELOCITY OF A VIBRATORY

FEEDER

G. H. Lim
School of Mechanical and Production Engineering, Nanyang Technological University,
Nanyang Avenue, Singapore 2263

(Received 17 May 1995)

Abstract-This paper presents the dynamic analysis of a vibratory feeder, which is frequently used to
convey small engineering parts. A theoretical analysis of vibratory feeding on a track vibrating with simple
harmonic motion and incorporating the possible states of body motion is presented. The states of motion
cover both the contact and non-contact states, and each state of motion is considered separately when
determining the equations of motion. The model incorporates various system and operating parameters
of the vibratory feeder that could affect the conveying velocity of the moving body. It is shown that the
conveying velocity of the body is particularly sensitive to variations in the coefficient of friction and the
inclination angle of the track to the horizontal, for a particular set of operating parameters. Reasonably
good agreement has been found between the experimentally measured mean conveying velocity and that
predicted by the model. Copyright 0 1996 Elsevier Science Ltd.

NOTATION the vibratory feeder properties and the parts being

conveyed. To develop a reliable mode1 to evaluate
track vibration amplitude (m)
frequency (Hz) feed rates, Lonie [4] developed a simple model based
coefficient of friction between body and the track on two masses connected by a spring and a damper
gravitational constant (9.81 m sm2) and MacDonald and Stone [5] developed a simple
track angle (“) linear vibratory feeder model using the MacPascal
angle of vibration (“)
body mass (kg)
language. Therefore, theoretical methods of calcu-
normal force between body and the track (N) lations of the dynamical processes and the determi-
time (s) nation of optimal conveying are becoming important.
time increment (s) Problems associated with closed loop control of
displacements along the x- and y-directions (m)
processes having significant transport delays or where
velocities in the horizontal and vertical directions,
respectively (m s-l) frequent stopstarts is a feature of an industrial
accelerations in the horizontal and vertical operation can then be evaluated.
directions, respectively (m s?) This paper presents the dynamic analysis of a
effective force in the x- and y-directions, respect- moving part on a linear vibratory feeder. It is
ively (N)
frictional resistance force (N)
assumed here that the forcing agency will provide
simple harmonic motion. The states of motion of the
body are assumed to be dependent on the vibrating
INTRODUCTION energy source of the feeder. Factors that could
The vibratory feeder is widely used to convey small
affect the rigid body’s conveying velocity are the
parts as those found in the food, manufacturing
such
angle of vibration, amplitude of vibration, coefficient
and mining industries. It consists essentially of a of friction, inclination of the plate angle to the
horizontal or near-horizontal conveying surface that horizontal and the operating frequency and these are
vibrates so that there is an in-plane and a normal incorporated in the analysis. The mode1 which has
component of vibration. Earlier work on vibratory been developed can be used to study the various
bowl feeders was reported by Redford and physical and system parameters of the linear
Boothroyd [11. They presented a theoretical analysis vibratory feeder that could affect the motion of the
of vibratory feeding where a phase difference may body.
exist between the parallel and normal components of
track motion. Boothroyd et al. [2] studied the THEORY
automatic feeding and orientation of parts on
vibratory bowl feeders and developed various forms Equations of motion
of orienting devices to improve feeding efficiency. A simplified basic model of the body on an inclined
Reynolds [3] considered the need to evaluate fully vibtrating plate is shown in Fig. 1. Two bodies are

197
198 G. H. Lim
Fig. 1. The basic model and plate motion.
involved, viz. the body being conveyed and the
conveying surface (plate).
The plate equations of motion are
= * cos u sin cot,
xp~a,e
y,~,~ = a0 sin c( sin at,
v Qt. = oaO cos c( cos wt,
0,daa = oao sin cLcos ot,
= &a0 cos a sin cot,
a ~pl.w
= w2a0sin c( sin it
ay,,,,,
A local planar coordinate system is used for the
model and this is also shown in Fig. 1. This
coordinate system is located by the plate angle 6. The
X-axis is parallel to the plate and the Y-axis is
perpendicular to the plate. The plate motion could be
at a height either above or below the plate zero
position. This coordinate system is used for all
displacements, velocities and accelerations.
The body forces affecting motion
From Fig. 1, for small vibration amplitudes, the
part will remain stationary on the plate because the
parallel inertia force acting on it will be too small to
overcome the frictional resistance force F, between
the part and the plate. It must also be noted that the
part moves during vibration due to frictional
effect [6].
From the analysis of forces, we may write
m*a$02* cos tl > m*g* sin 0 + F, (1)
where
F = p*N = p*(m*g* cos 9 - m*a$w2* sin a). (2)
Combining eqns (1) and (2) gives the following. For
forward sliding,
a$w2/g > (p* cos f3 + sin B)/(cos a + p sin a), (3)
and for backward sliding,
ao*w*/g > (p* cos 0 + sin tI)/(cos GI- p sin a). (4)
Let
a, = aOw2sin a, g, = g* cos 6,
then the operating conditions can be expressed in
terms of a dimensionless normal plate acceleration,
a,/g., as follows:
U./g, = aaw2 sin a/g* cos 0. (5)
For forward sliding,
an/g, > (P + tan Wcot a + ~1, (6)
and for backward sliding,
an/g, > (P - tan @/(cot a - P), (7)
Now, for sufficiently large amplitudes, the part will
leave the plate and hop foward during each cycle.
This happens when the reaction between the part and
the plate becomes zero:
N = 0 = m*g* cos I3- m*adw’* sin a. (8)
For the part to leave the plate,
a,*w’/g > cos B/sin a or a,/g, > 1.0. (9)
It is helpful to visualize the motion of the body
that is likely to result. For small plate vibration
amplitudes, if the plate is vibrating at an extremely
low frequency, it is likely that the frictional force will
keep the body in the same relative position on the
plate. This means no net movement of the body.
However, if the plate is vibrating at larger plate
amplitudes, then it is unlikely that the y-component
of acceleration of the body will ever be larger than the
corresponding component due to gravity. Thus the
body will never lose contact with the plate and
movement along the plate will occur. If the plate is
vibrating with sufficiently large amplitudes such that
the y-component of acceleration is larger than gravity
in the same direction, then the body will lose contact
with the plate and travel in free flight (or hop
forward). This may result in substantial net motion
along the plate.
Thus the typical net motion may be seen to be an
alternating pattern of contact and non-contact. This
relationship between the states may be more clearly
seen in Fig. 2. The condition that the part will leave
;z
Fig. 2. The motion state diagram.
 Conveying velocity of a vibratory feeder 199

the track is that the normal reaction between the part y-direction is equal to the gravity component in the
and the track becomes zero. The part will then travel same direction and increasing. This corresponds to
in free flight along a parabolic trajectory until it the normal force acting between the body and the
makes contact with the track again. After landing, the plate becoming equal to zero. Termination of this
component will slide forward relative to the track and state is when the y-position of the body becomes
may, after remaining stationary relative to the track equal to that of the plate, by which time surface
for a period, slide forward prior to leaving the track contact is regained.
on the next cycle. It is also possible for the part to
slide backward relative to the track between the two Contact state
forward sliding regions. Therefore a number of (a) Non-sliding state. The non-sliding state is an
distinct types of motion are possible and no fixed intermediate state between the sliding faster and
sequence of state transitions will occur for all possible sliding slower states, and will only occur at very low
combinations of the parameters. plate frequencies. By resolving forces in the x- and
The basic method of analysis is to determine the y-directions,
displacement and velocity of the body at a time
(t + dt), knowing the displacement and velocity at
ma, = mg sin 0 f pN,
time t and the values of the forces acting on the body
between time t and (t + dt). An illustration of this is
ma,= N-mgcos0. (12)
shown in Fig. 3. It is also reasonable to assume that
both t and (t + dt) are in the same state although it
The entry condition gives
is possible that sudden changes in the applied forces
can occur during the state transitions. The most
critical transition state is from the non-contact state a, = artray,
to one of the contact state. In practice, the free flight
to landing state will cause some elastic effect.
However, due to the difficulty in modelling impacts,
it is assumed that the body does not bounce upon y = ytrq,
impact with the plate.
PN 3 m(a,,,, + g sin O), (13)
Non-contact state
This state occurs when the body is in free flight. By and the exit condition gives
resolving forces in the X- and y-directions,
PN < m(a,,,, + g sin 0). (14)
ma* = -mg sin 0,
(b) Sliding slower state. This state occurs when the
ma, = -mg cos 0. body is sliding with a less positive x velocity than the
(10)
plate. By resolving forces in the x- and y-directions,
The dynamic equations under constant acceleration we have
are
ma, = -mg sin 0 -I- pN,
x12= xII + v,,, At - ig sin 0 AP,
ma,= N-mgcos0. (15)
y,, = y,l + v)rr,At - ;g cos tI AP, (11)
For 0 = O”,
It may be seen that the eqn (11) is in fact the same
as those of a projectile motion. Before this state can N = m(a, + g),
become active certain initial conditions must exist.
The body must be at the point of losing contact. This a =L!!Y
x
occurs when the plate acceleration in the negative m’

time: t time : t + dt

x, Y time increment x + dx, y + dy

“X) “y > vx + dv,, vy + dvy

ax> ay a, + da,, ay + day

Fig. 3. The time increment diagram.
200 G. H. Lim

(c) Slide faster stale. This state occurs when the to occur immediately after the non-contact state.
body is sliding faster than the plate in the x-direction, Since the body is travelling faster than the plate,
during the contact state. This state is most likely friction must act in the direction to slow down

Yes

+
lnitialise
variables

True
w ayp=-9

Incontact \

il YP = ytray
vyp = vytray yp = yp + vypdt + ayp. dW2
xp = xp + vxp.dt
vyp = vyp + ayp.dt

True

Sliding

axp =
- p.N/m
i-

-!?
t=t+dt

Fig. 4. Flow chart of the simulation model.

 Conveying velocity of a vibratory feeder 201

the body. By resolving forces in the x- and

y-directions,

ma,= -mgsine---N,

ma, = N-mgcos0. (16)

For 0 = 0”,

N = m(a) + g),

a
x
=I!?
m'
Equation (17) is negative, even if a,. is equal to its
maximum negative value of (-g); if it was any larger
then contact will be lost.
On the basis of the equations of motion formulated
above, a software program was developed to
simulate the motion of the body and to obtain its
displacement, velocity and acceleration against
time in the direction of conveying. The variables of
interest are the coefficient of friction, vibration
frequency, plate inclination angle, vibration ampli-
tude, vibration angle and feed rate. The computer
program was written in Turbo C, and implemented
on an IBM compatible computer. Turbo C was
chosen for its flexibility and powerful graphics
library [7]. The flow chart for simulating these is
shown in Fig. 4. Additional graphics functions were
incorporated to support the standard C graphics
library [8]. The program is capable of analysing any
vibratory feeder provided the motion of the plate is
simple-harmonic and completely definable as func-
tions of time. Variations to the operating or system
parameters may be altered either singly or simul-
taneously.
EXPERIMENTALSETUP AND PROCEDURE
Experiments were conducted using a commercially
available linear vibratory feeder, which consists of a
conveying platform supported on four sets of inclined
leaf springs located at four corners of the vibrating
plate and secured to a heavy base. An electromagnet
located at the base of the plate provides the vibratory
motion. The support system constrains the movement
of the plate so that it has both the vertical and
horizontal components of vibration.
In a preliminary set of tests it was found that the
inclination of the vibrating plate to the horizontal
has a significant effect on the conveying velocity.
Therefore the conveying surface was carefully levelled
by placing shims under the base framework. The
feeder was first calibrated to determine the actual
(17)
Time (8)
Fig. 5. Variation of displacment against time
component to be conveyed is an aluminium part
having a dimension of 19 x 8 x 3 mm. To determine
the coefficient of friction between the steel plate and
the aluminium part, the experimental method
described by Boothroyd [9] was employed. The
coefficient of friction was found to be 0.35. In order
to determine the conveying velocity, the time taken
for the component to travel over a fixed distance
marked on the track was measured using a high speed
video camera, the latter was set up to record 500
frames SK’ for the various tests.
RESULTS AND DISCUSSION
Figure 5 shows the displacement of the body
against time during the start-up to steady-state phase
of the vibrating feeder. This simulation was carried
out by assuming an operating frequency of 25 Hz, a
vibration angle of 10” vibration amplitude of 0.005 m
and a coefficient of friction of 0.36. It may be seen
that shortly after start-up the displacement gradually
increases with increasing time, and that after about
I s the body’s displacement has reached and
maintained at a constant slope. Figure 6 shows the
variation of horizontal velocity against time over the
same time interval. It can be seen that the velocity
; i.o-
0.5 1.0 1.5 2.0
‘-
L

vibration angle. This was followed by calibrating the

vibration amplitudes with a transducer against the
gain settings on the control knob. The conveying Time (s)

surface comprises a polished flat steel plate and the Fig. 6. Variation of velocity against time.
202 G. H. Lim

Time (8)

Fig. 7. Variation of velocity against time.

increases nearly linearly with time up to about 1 s,

after which it maintains at a steady-state velocity of
0.75 m s-r. Therefore at this particular set of
operating conditions the vibratory feeder initially
conveys the body at an increasing velocity and this
corresponded to an increasing slope in the displace-
ment figure. Thereafter a steady-state velocity has
been reached and this corresponded to a constant
slope in Fig. 5. Thus Figs 5 and 6 are directly
comparable on the same time base. It is apparent that
frequent stop-starts will reduce the mean conveying
velocity of the body. Figure 7 shows another result of
the velocity of the body at the following operating
parameters: w = 20 Hz, Ed= lo”, aa = 0.005 m,
p = 0.36. It can be seen that as the operating
frequency is reduced by 5 Hz (while other parameters
were kept unchanged), the horizontal velocity of the
body is substantially reduced, namely, from a
steady-state value of about 0.75 m s-’ to about
0.35 m s-r, a 53% reduction.
0 2.5 5
AMPLITUDE OF CONVEYING SURFACE - (mm)
Fig. 9. Conveying velocity against vibration amplitude
(track angle = 4”).
Simulation runs were then carried out and the
mean conveying velocity computed on a particular set
of operating parameters used in the experiment. By
assuming p = 0.35, w = 10 Hz, CI= 30”, the following
results were plotted. Figure 8 shows the result when
the plate angle of inclination was set to zero. It can
be seen that there is a near linear relationship between
the amplitude of vibration and the mean conveying
velocity as p is increased from 0.3 to 0.7. This linear
relationship is also found to be true in the case of the
track angle of inclination being set to 4” (Fig. 9) and
-4” (Fig. 10). It will be seen that over most of the

8 Experimenta

AMPLITUDE OF CONVEYING SURFACE - (mm) AMPLITUDE OF CONVEYING SURFACE - (mm)

Fig. 8. Conveying velocity against vibration amplitude Fig. 10. Conveying velocity against vibration amplitude
(track angle = 0). (track angle = -4”).
 Conveying velocity of a vibratory feeder
amplitude range the mean conveying velocity
increases with increase in the coefficient of friction up
to a value of about 0.7. This effect is characteristic of
the conveying mode in which the body is sliding,
increasing the accelerations on the body by increasing
the frictional forces. Increasing the coefficient of
friction beyond about 0.7 will cause a “stick-slide”
motion. It can be seen that for the same coefficient of
friction, setting the conveying surface to an
inclination of -4” from the horizontal resulted in a
considerable increase in the conveying velocity from
that of the horizontal case (Fig. 8), and that when the
track angle was set to 4”, a considerable decrease in
the conveying velocity was realized. Experimental
results of the mean conveying velocity were plotted in
Figs 8-10 and they confirm the trends and the
magnitudes of the theoretical mean conveying
velocity. Therefore the conveying velocity of a linear
vibratory feeder could be predicted by the theoretical
model with reasonable accuracy.
CONCLUSION
This paper presents the dynamic analysis of a
linear vibratory feeder and develops a model that
incorporates various system and operating par-
ameters that could affect the conveying velocity of
the body. These factors are the angle and amplitude
of vibration, coefficient of friction, track angle and
operating frequency. Good agreement has been
203
obtained between the measured mean conveying
velocity and that predicted from the model. The
model will be useful to designers concerned with
the dynamic characteristics of a vibratory feeder
and can be used as an aid to analyse how the
conveying velocity of a feeder installation may be
optimized.
REFERENCES
1. A. H. Redford and Cl. Boothroyd, Vibratory feeding.
Proc. Inst. Mech. Eng. 182(6), 135-146 (1968).
2. G. Boothroyd, C. Poli and L. E. Murch, Automatic
Assembly. Dekker, New York (1982).
3. D. K. Reynolds, Evaluation and selection of feeding
equipment for bulk materials. Bulk Solids Handling 3(4),
735-740 (1983).
4. K. W. Lonie, A practical model for sub-resonant
vibratory feeders. Bulk Solids Handling 3(4), 741-746
(1983).
5. S. A. MacDonald and B. J. Stone, An investigation of
vibratory feeders. In: Proc. Int. Conf. of Noise and
Vibration ‘89, Singapore, Cl2-C26 (1989).
6. G. H. Lim, Vibratory feeder motion study using turbo
C+ + language. Adu. Engng software 18(l), 53-59
(1993).
B. W. Kemigan and D. M. Ritchie, The C Progrumming
Language, 2nd edn. Prentice-Hall, Englewood Cliffs, NJ
(1989).
K. Weiskamp, L. Heiny and N. Shammas, Power
Graphics Using Turbo C. Wiley, New York (1989).
G. Boothroyd, Simple method for the determination of
the coefficient of sliding friction. Bull. mech. Engng
Educ. 9, 219 (1970).