“…Another interesting example of microassembly is a commercial unit by Klocke Nanotechnik with four nanorobotics axes (X, Y, Z-stages plus microgripper) and a joystick, which is capable of carrying out assembly of glass fibers, laser diodes, RF-mixer, micro systems or the handling of thin wires, gears, SMD-chips and micro sensors [3]. Furthermore, considerable research has been done on the development of specific micro-assembly tools and methods including work on visual servoing, sensor-based assembly and a vacuum handling tool [4][5][6][7][8][9][10][11][12][13]. At the micro-assembly systems design and planning level, Kumiawan et al have reported an attempt at developing a morphological classification of hybrid microsystems assembly [4] and several research works dealing with the planning for assembly have also been reported [5][6].…”