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

Abstract

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.

Noise characterization in millimeter sized micromanipulation systems

“…Numerous solutions are possible: designing environmental isolation platforms [17] [18], considering noise limitation during the design of micromanipulation systems by an appropriate choice of the resonance frequency of end effectors [19], or using appropriate controllers for noise rejection [20]. Multi-noise isolation platforms are generally very expansive and have a limited volume which can be a real problem if a micromanipulation station requires a large working space [21]. Moreover, vibration isolation tables commonly found in typical microrobotics laboratories allow efficient ground noise filetring but fail to filter acoustic noises.…”

Cyber-Physical Systems for Micro-/Nano-assembly Operations: a Survey

“…A matching algorithm was applied in [43], based on shape recognition for micro-assembly, allowing stability, high recognition efficiency (97% in 58.6 ms in average), and accurate positioning (93% in 20.1 ms in average) of the components. In [44], a sequential function chart was implemented in order to achieve automated procedures for micro-assembly, obtaining relatively more complex microassemblies by the system introduced lately by the same authors in [45]. This last work introduces a vision feedback strategy based on a real-time visual tracking algorithm used by the association of 2D features taken from images and their correspondence in the CAD model for the automation of assembly.…”

A Review on Microscopic Visual Servoing for Micromanipulation Systems: Applications in Micromanufacturing, Biological Injection, and Nanosensor Assembly

“…S. designed a visual servo feedback controller for a novel large working range microassembly manipulation system, and used the Fourier descriptors to identify and recognize the gripping fingers and object according to the silver wire rod for position information [69]. Brahim Tamadazte [70,71] from the FEMTO-ST Institute in France established a micromanipulation system as shown in Figure 6a (1). The system is placed on an anti-vibration platform to keep it in a controlled environment.…”