High‐Yield Automated MEMS Assembly

Gauthier, Micha l; gnier, St phane R

doi:10.1002/9780470634417.ch7

Cited by 6 publications

(8 citation statements)

References 16 publications

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“…Rather than using multiple manipulators, a flexible microgripper attached to a multi DOF manipulator can be used to realize a pick-and-place operations as demonstrated in [11], [12]. Manipulator and micro-gripper based manipulation for micro-assembly operations based on micro snap fasteners has also been demonstrated [13]- [16]. In many of these applications, several parts need to be soldered for making stable electrical connections.…”

Section: A Related Workmentioning

confidence: 99%

Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks

et al. 2018

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In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal control synthesis method that constructs discrete plans for the robots that satisfy both the assigned tasks as well as proximity constraints between the robots due to the physics of the problem. Our proposed algorithm relies on an existing optimal control synthesis approach combined with a novel sampling-based technique to reduce the state-space of the product automaton that is associated with the LTL specifications. The synthesized discrete plans are executed by the microrobots independently using local magnetic fields. Simulation studies show that the proposed algorithm can address large-scale planning problems that cannot be solved using existing optimal control synthesis approaches. Moreover, we present experimental results that also illustrate the potential of our method in practice. To the best of our knowledge, this is the first control framework that allows independent control of teams of magnetic microrobots for temporal micromanipulation tasks.

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Section: A Related Workmentioning

confidence: 99%

Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks

et al. 2018

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“…However, once the parameters for a particular assembly process are defined, the system can be programmed to execute that procedure automatically. Automation of microassembly tasks is not trivial and is the subject of much research [10,17,18]. Note that for topics in this chapter all tasks are performed by telerobotic control, using a human operator and a video microscope system for visual feedback.…”

Section: Robotic Micromanipulatormentioning

confidence: 99%

Robotic Microassembly of 3D MEMS Structures

Gauthier

gnier²

2010

Robotic Microassembly

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“…These holders include flexible structures (springs). However, flexible microparts are of great interest for microassembly [23]. To automatically assemble microproducts such as RFS-MOB and achieve fine positioning, it is required to pick the holder to be assembled, to guide it along a rail and to release it.…”

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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High‐Yield Automated MEMS Assembly

Cited by 6 publications

References 16 publications

Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks

Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks

Robotic Microassembly of 3D MEMS Structures

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

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