Sensor-guided micro assembly of active micro systems by using a hot melt based joining technology

Rathmann, Sven; Schöttler, Kerstin; Berndt, Michael; Hemken, G.; Raatz, Annika; Tutsch, Rainer; Böhm, Stefan

doi:10.1007/s00542-008-0681-5

Cited by 6 publications

(3 citation statements)

References 4 publications

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“…Less the position uncertainty of 1.4 µm the portion of the joining process and the handling components to the assembly uncertainty is 10.5 µm. Compared to the accuracy of assembly process using the passive heat management (69 µm [10]) a reduction of the uncertainty of 85 % using the active heat management could be reached.…”

Section: Assembly Results and Discussionmentioning

confidence: 99%

Active Gripper for Hot Melt Joining of Micro Components

Rathmann

Raatz

Hesselbach

2010

Precision Assembly Technologies and Systems

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Abstract. Precision assembly of hybrid micro systems requires not only a high precision handling and adjusting of the parts but also a highly accurate and fast bonding technique. In this field adhesive technology is one of the major joining techniques. At the Collaboration Research Center 516, a batch process based on a joining technique using hot melt adhesives was developed. This technique allows the coating of micro components with hot melt in a batch. The coating process is followed by the joining process. Due to this, the time between coating and joining can be designed variably. Because of the short set times of hot melt adhesives short joining times are possible. For this assembly process adapted heat management and adapted gripper systems are very important. Primarily, the conception and construction of suitable grippers, which realize the complex requirements of the heat management, meet a high challenge. This paper presents an active gripper system for the joining of micro parts using hot melt adhesives. Furthermore, first examinations and results of an assembly process using this gripper for bonding with hot melt adhesives are presented.

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Section: Assembly Results and Discussionmentioning

confidence: 99%

Active Gripper for Hot Melt Joining of Micro Components

Rathmann

Raatz

Hesselbach

2010

Precision Assembly Technologies and Systems

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“…They are easily accessible and economical as proven in industries such as packaging, furniture, book binding, aerospace applications, etc. HMAs' applications in robotics and automation have expanded in the last ten years, which range from handling small parts at the submillimetre scale, e.g., in an automatic microtool changer [39], a gripper [40], microassembly [41], and passive self-assembly [42], to a general mechanism for automatic mechanical connection and disconnection between macroscopic parts [43].…”

Section: Thermoplastic Adhesive Characterizationmentioning

confidence: 99%

Large-Payload Climbing in Complex Vertical Environments Using Thermoplastic Adhesive Bonds

2013

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Despite many approaches proposed in the past, robotic climbing in a complex vertical environment is still a big challenge. We present here an alternative climbing technology that is based on thermoplastic adhesive (TPA) bonds. The approach has a great advantage because of its large payload capacity and viability to a wide range of flat surfaces and complex vertical terrains. The large payload capacity comes from a physical process of thermal bonding, while the wide applicability benefits from rheological properties of TPAs at higher temperatures and intermolecular forces between TPAs and adherends when being cooled down. A particular type of TPA has been used in combination with two robotic platforms, featuring different foot designs, including heating/cooling methods and construction of footpads. Various experiments have been conducted to quantitatively assess different aspects of the approach. Results show that an exceptionally high ratio of 500% between dynamic payloads and body mass can be achieved for stable and repeatable vertical climbing on flat surfaces at a low speed. Assessments on four types of typical complex vertical terrains with a measure, i.e., terrain shape index ranging from −0.114 to 0.167, return a universal success rate of 80%-100%.

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“…TPA was chosen because it offers good plastic and bonding properties which can be easily controlled through temperature [29][30][31] for automation purposes. It has been used in robotics and automation to handle small-sized parts at the submillimetre scale [32][33][34][35] as well as in robotic locomotion [36,37]. The type of TPA used in our study (Pattex Hot Stick Transparent, Henkel, Germany) is based on copolymer ethylene vinyl acetate.…”

Section: Introductionmentioning

confidence: 99%

Mechanics and energetics in tool manufacture and use: a synthetic approach

Wang

Brodbeck

Iida

2014

J. R. Soc. Interface.

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Tool manufacture and use are observed not only in humans but also in other animals such as mammals, birds and insects. Manufactured tools are used for biomechanical functions such as effective control of fluids and small solid objects and extension of reaching. These tools are passive and used with gravity and the animal users' own energy. From the perspective of evolutionary biology, manufactured tools are extended phenotypes of the genes of the animal and exhibit phenotypic plasticity. This incurs energetic cost of manufacture as compared to the case with a fixed tool. This paper studies mechanics and energetics aspects of tool manufacture and use in non-human beings. Firstly, it investigates possible mechanical mechanisms of the use of passive manufactured tools. Secondly, it formulates the energetic cost of manufacture and analyses when phenotypic plasticity benefits an animal tool maker and user. We take a synthetic approach and use a controlled physical model, i.e. a robot arm. The robot is capable of additively manufacturing scoop and gripper structures from thermoplastic adhesives to pick and place fluid and solid objects, mimicking primates and birds manufacturing tools for a similar function. We evaluate the effectiveness of tool use in pick-and-place and explain the mechanism for gripper tools picking up solid objects with a solid-mechanics model. We propose a way to formulate the energetic cost of tool manufacture that includes modes of addition and reshaping, and use it to analyse the case of scoop tools. Experiment results show that with a single motor trajectory, the robot was able to effectively pick and place water, rice grains, a pebble and a plastic box with a scoop tool or gripper tools that were manufactured by itself. They also show that by changing the dimension of scoop tools, the energetic cost of tool manufacture and use could be reduced. The work should also be interesting for engineers to design adaptive machines.

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Sensor-guided micro assembly of active micro systems by using a hot melt based joining technology

Cited by 6 publications

References 4 publications

Active Gripper for Hot Melt Joining of Micro Components

Active Gripper for Hot Melt Joining of Micro Components

Large-Payload Climbing in Complex Vertical Environments Using Thermoplastic Adhesive Bonds

Mechanics and energetics in tool manufacture and use: a synthetic approach

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