Automated robot-based separation and palletizing of microcomponents

Jasper, Daniel; Diederichs, Claas; Stolle, Christian; Fatikow, Sergej

doi:10.1109/isam.2011.5942339

Cited by 3 publications

(5 citation statements)

References 6 publications

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“…In air, the grasped object is not easily detached from the end effector owing to the strong adhesion force, which allows for ease of transport. For example, manipulation methods in air succeeded in transporting objects at high speed without loss of the transferred object [21,27,33]. However, in liquid, transportation of a target object at high speed is more difficult than in air because the drag force exerted on the transferred object increases as the velocity of the motion increases.…”

Section: High-speed Transportation In Liquidmentioning

confidence: 99%

“…Many previous works moved the end effectors for transportation. In air, these studies transferred microobjects without the loss of the object despite the vibration [21,27,33]. However, in Many previous works moved the end effectors for transportation.…”

Section: High-speed Transportation In Liquidmentioning

confidence: 99%

“…However, in Many previous works moved the end effectors for transportation. In air, these studies transferred microobjects without the loss of the object despite the vibration [21,27,33]. However, in liquid, the residual vibration (more than 5 µm) leads to loss of the objects, although the researchers applied a control algorithm to suppress the vibration [20].…”

Section: High-speed Transportation In Liquidmentioning

confidence: 99%

See 2 more Smart Citations

High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly

et al. 2020

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To assemble microobjects including biological cells quickly and precisely, a fully automated pick-and-place operation is applied. In micromanipulation in liquid, the challenges include strong adhesion forces and high dynamic viscosity. To solve these problems, a reliable manipulation system and special releasing techniques are indispensable. A microhand having dexterous motion is utilized to grasp an object stably, and an automated stage transports the object quickly. To detach the object adhered to one of the end effectors, two releasing methods—local stream and a dynamic releasing—are utilized. A system using vision-based techniques for the recognition of two fingertips and an object, as well automated releasing methods, can increase the manipulation speed to faster than 800 ms/sphere with a 100% success rate (N = 100). To extend this manipulation technique, 2D and 3D assembly that manipulates several objects is attained by compensating the positional error. Finally, we succeed in assembling 80–120 µm of microbeads and spheroids integrated by NIH3T3 cells.

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Section: High-speed Transportation In Liquidmentioning

confidence: 99%

Section: High-speed Transportation In Liquidmentioning

confidence: 99%

Section: High-speed Transportation In Liquidmentioning

confidence: 99%

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High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly

et al. 2020

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“…If the manipulator is able to handle many components simultaneously, the sorting process is sped up [ 13 ]. An example of robotized sorting is provided in [ 14 ], which presents an automated separation and palletizing of micro-components with a robotic cell employing three cooperating mobile micro-robots. A microscope inspects and classifies the components that are then selected, separated, picked up, and moved to a target pallet.…”

Section: State Of the Artmentioning

confidence: 99%

A Novel Method and Mechanism for Micro-Sphere Singularization

et al. 2017

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The paper presents an innovative mechanism for the singularization of micro-spheres, which can be effectively employed in a diverse range of robotized applications in micro-electronics and micro-mechanics. Many miniaturized devices are currently being developed and consist of different micro-components to be precisely assembled. The demanding product and process requirements can be met by automating the assembly phases, which include sorting and feeding the micro-components. Therefore, accurate, high-throughput, and modular mechanisms and tools able to supply a number of micro-components, or even a single element for the subsequent operations, play a significant role. In this context, this work focused on the development of a novel strategy for separating a single component from an unstructured stock of identical parts, in particular of micro-spheres with diameters of 0.2–1 mm. Suitable expedients were considered to overcome the adhesive effects that can become significant at the micro-scale due to the very small size and low mass of the micro-spheres. The paper describes the operating principle and the actuation strategies of the mechanism. The design and the development of a prototype for singularizing micro-spheres with a diameter of 0.6 mm are thoroughly discussed. Finally, the results of experimental singularization tests demonstrate the method effectiveness and the mechanism performance.

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“…An automatic assembly instrument usually includes clamping and positioning unit, visual alignment unit, actuating unit, etc. For example, Jasper et al (2011) developed an automatic assembly instrument to realize the stacking of small parts based on tracking algorithm by adopting machine vision, micro-gripper, etc. In the automatic assembly, the camera is generally used to capture the target image, and then extract the target characteristic through image processing, such as the attitude and position.…”

Section: Introductionmentioning

confidence: 99%

Automatic press-fit assembly of small precision interference fitting parts: armature of electro-hydraulic servo valve

Wang

Lou

Xiao-dong

et al. 2019

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Purpose The purpose of this paper is to design an automatic press-fit instrument to realize precision assembly and connection quality assessment of a small interference fitting parts, armature. Design/methodology/approach In this paper, an automatic press-fit instrument was developed for the technical problems of reliable clamping and positioning of the armature, automatic measurement and adjustment of the attitude and evaluation of the connection quality. To compensate for the installation error of the equipment, corresponding calibration method was proposed for each module of the instrument. Assembly strategies of axial displacement and perpendicularity were also proposed to ensure the assembly accuracy. A theoretical model was built to calculate the resistant force generated by the non-contact regions and then combined with the thick-walled cylinder theory to predict the press-fit curve. Findings The calibration method and assembly strategy proposed in this paper enable the press-fit instrument to achieve good alignment and assembly accuracy. A reasonable range of press-fit curve obtained from theoretical model can achieve the connection quality assessment. Practical implications This instrument has been used in an armature assembly project. The practical results show that this instrument can assemble the armature components with complex structures automatically, accurately, in high-efficiency and in high quality. Originality/value This paper provides a technical method to improve the assembly quality of small precision interference fitting parts and provides certain methodological guidelines for precision peg-in-hole assembly.

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Automated robot-based separation and palletizing of microcomponents

Cited by 3 publications

References 6 publications

High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly

High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly

A Novel Method and Mechanism for Micro-Sphere Singularization

Automatic press-fit assembly of small precision interference fitting parts: armature of electro-hydraulic servo valve

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