Conference Paper

Reconfigurable micro-assembly system for photonics applications

Rensselaer Polytechnic Institute
DOI: 10.1109/ROBOT.2002.1014755 Conference: Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, Volume: 2
Source: IEEE Xplore


The assembly of parts with dimensions several hundred microns or less is a challenging problem, and has received increasing attention for applications in areas such as telecommunication, automotive, and biotechnology. Current state of the art micro-assembly systems are often specialized devices and software. In this paper we present a reconfigurable assembly system designed to handle micro-parts in such a way that high precision actuation and sensing is used only in the subsystems where it is actually necessary. Aspects related to part gripping, fixturing, sensing, motion and bonding are discussed. Analysis and experiments are presented to show that this architecture can lead to a relatively low cost and flexible assembly solution.

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    • "Nelson and his teams in the USA and in the Switzerland, have developed many assembly station [1], [3], [10], • Sun and Chin in China have presented a microassembly station, in which they used a multiple-view and multiple-scale approach by visual servoing for micromanipulation [2], • Popa and al are very interested in the manipulation of the optical fibers, notably by image-based servoing [4], [6], • Works concerned by microassembly station agility and flexibility are presented in the references [7], [8], "
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    ABSTRACT: The paper deals with the manipulation of silicon microcomponents in order to assembly automatically. The size of the components vary from 600 mum times 400 mum times 100 mum to 300 mum times 300 mum times 100 mum with a notch of 100 mum thickness on every side. The microassembly process is split up into elementary tasks (aligning component, positioning component, centering component, opening gripper, ...) where every one is achieved by visual servoing. The control laws are of the type exponential or polynomial decrease of error according to the task. The performing of the latter has required the implementation of an effective tracking algorithm in combination with a depth-from-focus technique in order to maintain the target in focus and to recover the distance between the gripper and the component. The process includes the adaptation of the video microscope magnification to the required resolution (coarse to fine servoings). A multiple scale modelling and calibration of the photon video microscope is performed. The picking and placing of above components were achieved : the errors of positioning are respectively 1.4 mum in x and y and 0.5 degree in orientation.
    Full-text · Conference Paper · Sep 2008
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    • "User interference was also needed to accomplish the entire task precisely. Other research works also addressed the problems involved in micro assembly when compared to macro assembly [3] [4] [5]. None of them has practically tackled the problem of controlling the manipulated micro objects. "
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    ABSTRACT: This paper proposes a novel method to compensate for the friction and all the scaling micro forces which add to the friction force in micromanipulation and more specifically in micro object pushing using an artificial neural network. The requirements for developing the neural network are addressed and the structure of the corresponding experimental setup is described in details.
    Preview · Conference Paper · Nov 2006
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    • "Very few such systems are capable of performing 3-D microassembly and providing multiple-DOF assembly force control [30]. Over the past decade, many experimental microassembly systems have been developed, such as [3], [5], [12], [20], [21], [23]–[26], and [29]. However, only a very limited number of systems directly target industrial applications, which have strict requirements on robustness and efficiency. "
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    ABSTRACT: Microassembly systems are a class of representative optomechatronic systems that play a critical role in the fabrication, packaging, and interconnection of hybrid microsystems such as hybrid microelectromechanical systems. Optomechatronic integration is essential to the development of microassembly systems due to the basic importance of microscope optics to microassembly. In this paper, the role of microscope optics in microassembly systems is analyzed. The general architecture of microassembly systems is introduced. Unique properties of microscale optomechatronics that differ from macroscale optomechatronics are summarized. These fundamental differences motivate the definition and discussion of microoptomechatronics. Major methodology issues in optomechatronic design of microassembly systems are introduced using examples. A wavelet-based microscopic image segmentation technique is presented to demonstrate the strength of using the unique properties of microoptomechatronics in microscopic image information processing.
    Full-text · Article · Sep 2005 · IEEE Transactions on Industrial Electronics
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