This paper pr and torque se beams and a probes. The g crosstalk and and torques f compatible p dynamic adju linear range o square errors

In the last ten years, various grasping principles and releasing techniques suitable for microassembly have been hypothesised and successfully tested. Since in microdomain adhesion forces overcome the gravity one, new grasping principles have been exploited to grasp microparts. Unfortunately, in microassembly the most critical phase is not to grasp a micropart, but to release it. Therefore, the development of releasing strategies plays a fundamental role in the entire assembly cycle. This paper proposes a scheme for classifying many releasing strategies developed in the microassembly field, provides a map of interesting grasping-releasing couples and analyses in detail one of the most reliable grasping principles (i.e. capillary gripper) and the related possible releasing strategies. Finally, a procedure for the selection of grasping and releasing strategies on the basis of the components to be handled and on the boundary conditions is provided.

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This paper pr and torque se beams and a probes. The g crosstalk and and torques f compatible p dynamic adju linear range o square errors

Abstract.A tele-haptic system for microassembly applications is currently being developed at the Delft University of Technology, with the goal of achieving superior performance by providing enhanced feedback to the human operator. Assembly of a micro-harmonic drive is used as a benchmark to fully evaluate the proposed tele-haptic system by investigating the control strategies and the individual subsystems: master device, microgrippers and slave system. The master device will be comprised of a parallel robot with a built-in gripper. The slave system and end effector are focused on providing efficient and effective force feedback of the interactions on the microenvironment to the human operator, in addition to detecting position and orientation of the object being grasped. Novel control strategies are also investigated to allow the transmission of high frequency transients to the operator, carrying information from hard contact interactions between the microgripper and the part to be assembled.