Assembly sequence planning for automated micro assembly

Udeshi, Tushar; Tsui, K.

doi:10.1109/isatp.2005.1511457

Cited by 12 publications

(9 citation statements)

References 16 publications

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“…The first approach is useful for a very large production batch but the reliability stays low [2]. The second approach is more flexible and is relevant for a smaller production batch [3,4].…”

Section: Introductionmentioning

confidence: 99%

Analysis of forces for micromanipulations in dry and liquid media

Gauthier¹,

Régnier²,

Rougeot³

et al. 2006

Journal of Micromechatronics

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During microscale object manipulation, contact (pull-off) forces and non-contact (capillary, van der Waals, and electrostatic) forces determine the behaviour of the micro-objects rather than the inertial forces. The aim of this article is to give an experimental analysis of the physical phenomena at a microscopic scale in dry and liquid media. This article introduces a review of the major differences between dry and submerged micromanipulations. The theoretical influences of the medium on van der Waals forces, electrostatic forces, pull-off forces and hydrodynamic forces are presented. Experimental force measurements based on an AFM system are carried out. These experiments exhibit a correlation better than 40% between the theoretical forces and the measured forces (except for pull-off in water). Finally, some comparative experimental micromanipulation results are described and show the advantages of the liquid medium Keywords Micromanipulation, microrobotics, liquid medium, pull-off force, electrostatic force, hydrodynamic effect, van der Waals force, capillary force.

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Section: Introductionmentioning

confidence: 99%

Analysis of forces for micromanipulations in dry and liquid media

Gauthier¹,

Régnier²,

Rougeot³

et al. 2006

Journal of Micromechatronics

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“…These devices are used to manipulate micrometric sized components i.e. between 1 μm to 1 mm in different fields such as the assembly of micromechanisms [2,3], laser sources, optical benches [4,5] and the manipulation of biology cells or cosmetic powders. Its field of applications is wide because it includes micromechanics as well as microoptics, microsystems, micro-electronics, but also medicine, biology and pharmacy.…”

Section: Introductionmentioning

confidence: 99%

Flexible micro-assembly system equipped with an automated tool changer

Clevy

Hubert

Chaillet

2008

J. Micro-Nano Mech.

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This paper deals with the design, fabrication and experimental validation of several modules of a micro-assembly system. On one hand, a microgripper is integrated in a four degrees of freedom system. On the other hand, a tool changer is designed. It enables to exchange automatically the tip part of the microgripper and then dedicated tools can be used to achieve specific tasks. The principle of this tool changer relies on a thermal glue whose phase (liquid or solid) is controlled by heat generators. This system is based on the modeling of thermal phenomena in the tools during a cycle of tool exchange. A compliant system is added to limit micromanipulation forces applied during assembly tasks like insertions. Finally, the successful assembly of several microcomponents is detailed, highlighting the capabilities and benefits of the whole system.

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“…An assembly task needs to be able to manipulate microobject with a good repeatability and efficiency. Now, the current micromanipulation strategies are limited by the adhesion and surface effects (pull-off, van-der-Waals, electrostatic, capillary) and no reliable strategies is performed under fifty micrometers [5,6]. To reduce this physical limit, a solution is to change the environment and to manipulate the object in a liquid medium.…”

Section: Introductionmentioning

confidence: 99%

Capillary Force Disturbances on a Partially Submerged Cylindrical Micromanipulator

Gauthier

Nourine²

2007

IEEE Trans. Robot.

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To cite this version:Michaël Gauthier, Mourad Nourine. Capillary force disturbances on a partially submerged cylindrical micromanipulator.. IEEE Transactions on Robotics, IEEE, 2007, 23 (3) Abstract-The objective of this article is to analyse the impact of liquid surface tension on force measurement in submerged micromanipulation. Firstly, at the present, mechanical characterization of biological objects in biological liquid has significant interest. Secondly, the reduction of the surface force and adhesion forces in a submerged medium could be a relevant approach to perform reliable artificial objects micromanipulation. In both cases, the micro-nano force measurement in a liquid is a great challenge. In case of a force sensor placed out of the liquid, the measurement is disturbed by the liquid surface tension. This article proposes an analysis of these disturbances on force measurements. Some design rules are proposed to reduce disturbances. We show that the major disturbances are induced by the contact angle hysteresis and a complete method is proposed to calculate these disturbances in a micromanipulation task.

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Assembly sequence planning for automated micro assembly

Cited by 12 publications

References 16 publications

Analysis of forces for micromanipulations in dry and liquid media

Analysis of forces for micromanipulations in dry and liquid media

Flexible micro-assembly system equipped with an automated tool changer

Capillary Force Disturbances on a Partially Submerged Cylindrical Micromanipulator

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