“…Developing a systematic architecture for assembly has been a driving force of research efforts as seen in the work of Hollis et al leading to development of tabletop precision assembly systems [1]. Likewise, Kuo et al [2] have carried out assembly of a 38 A Classification and Coding System for Micro-Assembly 150 ^m diameter pin with a 200 | Lim thickness plate under the guidance of three laser fibers creating a Molten Separation Joint (MSJ). 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].…”