Hybrid microhandling: a unified view of robotic handling and self-assembly

Abstract

Microhandling has been developed mainly in two branches: robotic microhandling and self-assembly. This paper identifies common elements of the both handling strategies, namely potential trapping, ambient environment, disturbance rejection, perturbation, surface and material properties and hierarchical positioning. By analyzing these elements, we propose a unified view of both branches and discuss ways to combine them on demand. As an example, we discuss a hybrid handling strategy that combines the advantages of both branches of microhandling.

Lateral capillary forces of cylindrical fluid menisci: a comprehensive quasi-static study

“…Scaling properties may also be studied, as well as the self-alignment dynamics [49] enabled by capillary forces. The latter is fundamental to many present-day microsystem integration technologies, from hybrid microhandling [55] to capillary part-to-substrate selfassembly [16]. Good agreement between all estimates was obtained-as summarized in table A1 and detailed below.…”

Unified View of Robotic Microhandling and Self‐Assembly

“…In a previous publication of the authors [46], the relation between robotic microhandling and self-assembly has been analyzed in a different manner. Instead of phase analysis of the microassembly process (feeding, positioning, releasing, alignment, and fixing) in this chapter, a more technologically oriented approach is applied (potential trapping and hierarchical positioning).…”

Capillary Gripping and Self-Alignment: A Route Toward Autonomous Heterogeneous Assembly

“…1) relies on the consistent combination of individually well-mastered techniques: topographic surface structuring, capillary gripping, competing liquid bridges and capillary self-alignment [24]. Through the process, a generic target substrate can be efficiently populated with components of known footprint.…”