Multi-Probe Micro-Assembly

Wason, John; Gressick, William; Wen, John T.; Gorman, Jason J.; Dagalakis, Nicholas G.

doi:10.1109/coase.2007.4341814

Cited by 9 publications

(14 citation statements)

References 9 publications

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“…With the combination of the motion of the probes and the motion of the die, manipulation can take place at any location on the 10 mm×10 mm die. The kinematic relationship between the various components in the system is determined through an automated vision based calibration procedure [14]. …”

Section: Experimental Testbedmentioning

confidence: 99%

“…The advantage of this mechanism is that the platform has full 6 degree-of-freedom (6-DOF) motion while the actuation is entirely planar and the joints are all flexure based, which are easy to manufacture in small scale. Our approach is to apply our 3 dimensional (3D) assembly technology [14] for the construction of this structure.…”

Section: Introductionmentioning

confidence: 99%

“…We extended the method to a multi-probe platform, and demonstrated the feasibility of an automated sub-millimeter part pick-up/rotation/insertion task with only vision feedback [14], [16]. A two-probe chopstick-like manipulation method has been proposed in [17].…”

Section: Introductionmentioning

confidence: 99%

“…The parts were produced at the National Institute of Standards and Technology (NIST). This work builds on our previous work on a single part manipulation and insertion [14], [21]. We have applied this fully automated procedure to the insertion of the three legs.…”

Section: Introductionmentioning

confidence: 99%

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Vision guided multi-probe assembly of 3D microstructures

Wason

Wen

Choi

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper describes the operator assisted automated assembly of a 3-legged spatial platform by using a vision guided multi-probe assembly process. This is the first step towards the ultimate goal of building a microscale active spatial platform. Two issues are highlighted in this paper: contact management and vision feedback. Using multiple probes for part grasping and manipulation has the advantage of robustness and versatility as compared to micro-grippers. However, the contacts between the probes and the part need to be carefully managed to ensure a grasp that is stable for part pick-up and yet manipulable to allow part motion in a controlled fashion. By using vision guidance, the probes can be coordinated to grasp the parts and lift them off the die securely and reliably. We show that the contacts act as point contacts with friction, so when a part is pressed against a stationary probe, the part rotates about the axis between the contacts, changing its orientation so it may be inserted into a slot in the substrate. We have demonstrated that the three legs can be assembled in a fully automated fashion via stereo vision feedback. The platform is at present assembled via teleoperation. The assembled microstructure measures 450 µm×600 µm. We are now working on the full automation of the assembly onto a substrate populated with MEMS actuators.

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Section: Experimental Testbedmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Vision guided multi-probe assembly of 3D microstructures

Wason

Wen

Choi

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The detection of contact and the control of the impact force are performed in [17], [18]. There are some tasks which are carried out by using force control like insertion [19], [8] and pushing [20]. In these works, AFM probes are often used or grippers with one sensing fingers and one actuated finger.…”

Section: Introductionmentioning

confidence: 99%

Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper

Komati

Rabenorosoa

Clevy

et al. 2013

IEEE Trans. Automat. Sci. Eng.

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Abstract-This paper studies automated tasks based on hybrid force/position control of a flexible object at the microscale. A guiding task of a flexible micropart is the case of the study and is achieved by a two-sensing-finger microgripper. An experimental model of the behavior of the microgripper is given and the interaction forces are studied. Based on grasp stability, a guiding strategy taking into account the pull off forces is proposed. A specific control strategy using an external hybrid force/position control and taking into account microscale specificities is proposed. The experimental results of automated guiding task are presented.Note to Practitioners -This article's motivation is the need of very precise positioning in micromanipulation and microassembly tasks. The guiding tasks are a part of the microassembly process. Such guiding tasks are rarely automated. This is mainly due to the fact that automation in the microworld is a new issue and the literature only concerns the local control of microactuators and microrobots for the moment. Hybrid force/position control is a promising approach to achieve an automated guiding task of the micropart. To detect the contact between the micropart and the rail, a two-sensing-finger microgripper is used. The controller aims to release the contact and to continue going forward within the guiding axis. The proposed controller is very accurate, with high speed (low rejection time) and easy to implement. It is noticed that the proposed control scheme can also be applied to other microassembly tasks (pick-and-place, insertion, etc).

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Robotic micromanipulation for microassembly: modelling by sequencial function chart and achievement by multiple scale visual servoings

Tamadazte

Fort-Piat²,

Dembélé³

et al. 2009

J. Micro-Nano Mech.

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The paper investigates robotic assembly by focusing on the manipulation of microparts. This task is formalized through the notion of basic tasks which are organized in a logical sequence represented by a function chart and interpreted as the model of the behavior of the experimental setup. The latter includes a robotic system, a gripping system, an imaging system, and a clean environment. The imaging system is a photon videomicroscope able to work at multiple scales. It is modelled by a linear projective model where the relation between the scale factor and the magnification or zoom is explicitly established. So, the usual visual control law is modified in order to take into account this relation. The manipulation of some silicon microparts (400 μm × 400 μm × 100 μm) by means of a distributed robotic system (xyθ system, ϕz system), a twofinger gripping system and a controllable zoom and focus videomicroscope shows the relevance of the concepts. The 30% of failure rate comes mainly from the physical phenomena (electrostatic and capillary forces) instead of the accuracy of control or the occultations of microparts.

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Multi-Probe Micro-Assembly

Cited by 9 publications

References 9 publications

Vision guided multi-probe assembly of 3D microstructures

Vision guided multi-probe assembly of 3D microstructures

Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper

Robotic micromanipulation for microassembly: modelling by sequencial function chart and achievement by multiple scale visual servoings

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