In this paper, a platform based on microscope vision is established to align and grip a ring object. An effective alignment algorithm is proposed based on a microscope vision system in order to realize the gripping in high precision. The multiple features of the micro-gripper in the image such as the edge length and the circle center are detected to regulate the microscope vision system. The desired position and orientation of the ring object is determined according to the features of the micro-gripper in the image captured by the horizontal camera. The ring object's pose is adjusted to the desired pose above. Once the ring object's pose coincides with the micro-gripper's pose, the micro-gripper is moved to the ring object under the visual guidance of the vertical camera and grips it. Experimental results demonstrate the effectiveness of the alignment algorithm.

Aligning micro-gripper to ring object in high precision with microscope vision

Micro-material handling and micro-assembly becomes increasingly important in largevolume manufacturing of products like sensors in automotive applications. Smaller dimensions of the micro-objects lead to problems with regard to the reliability of the manufacturing process because adhesive forces become predominant over gravity for objects whose dimensions are in the micro-range. In contrast to the common approach of minimizing those adhesive forces, this paper focuses on the use of the three main adhesive forces, van-der-Waals, electrostatic and surface tension forces, as gripping principles. These forces are compared to conventional vacuum grippers with regard to gripping forces and complexity of application. Modelling of the forces is executed for separation distances in the range of 1x10 -12 m - 1x10 -3 m. Even though vacuum forces dominate in magnitude over others within the whole range, there are several disadvantages of using them. On the other hand adhesive forces are advantageous in that they require little amount of energy and they do not mechanically strain the micro-parts being handled.

/pdf/study-on-applicability-of-adhesive-forces-for-micro-material-1ari9pddyr.pdf

Study on applicability of adhesive forces for micro-material handling in production technology

Orientation adjustment of the micro-component is the key but most difficult part of micro-assembly. In this paper, the mechanism and physical process for orientation adjustment of micro-components absorbed by a liquid-drop micromanipulator are analyzed. The transformation relationship between the orientation of micro-components and the shape of the liquid-drop micromanipulator tip is studied. The quantitative mapping relationship between the shape of the liquid-drop micromanipulator tip and the orientation of micro components is established. A method to quantitatively control the tilt and rotation of micro-components is presented, and the feasibility of the method is verified by experiment. The results show that the orientation of a micro-component absorbed by a liquid-drop micromanipulator varies with the orientation of the micromanipulator. Quantitative control of the orientation of the micro-component can be realized by changing the shape of micromanipulator tip by controlling the upward and downward movement of tungsten rods.

Method of orientation control and experimental investigation using a liquid-drop micromanipulator

Development and characterization of thinned PZT bulk technology based actuators devoted to a 6-DOF micropositioning platform

This paper proposes a novel contact force sensing and control method for the inserting operation during precise assembly process, which is based on a micromanipulator integrated with force sensors. At first, theoretical analysis is carried out to calculate the admissible contact force between the gripped holes and the pegs. The contact force thresholds which are smaller than the admissible contact forces are adopted in the control algorithm to avoid the rotating of the gripped holes during assembly process. The force sensors are calibrated using an ATI force sensor and the conversing coefficients are calculated. The admissible contact forces are tested when different contact distance and preload force are adopted. The performance of the proposed contact force sensing and control method is verified by carrying out the task of applying contact force on the surface of the gripped holes with different contacting speeds. The results indicate that the contact force can be adjusted to be smaller than the threshold 1 and the peg-in-hole assembly can be completed successfully. Note to Practitioners&#x2014;This paper proposes a novel contact force sensing method during the inserting operation. Compared with the traditional contact force sensing method, this paper adopts the force sensor integrated into the micromanipulator instead of commercial force sensor to detect the contact force between two parts. To ensure the assembling precision, the theoretical analysis is conducted to calculated the admissible contact force to avoid the sliding and rotating of the gripped micro part during assembling. This work efficiently simplifies the contact force sensing and control process, where complex calibration process needn&#x2019;t to be carried out to eliminate the influence of the mass of the micromanipulator on the testing results. In addition, the assembling costs are reduced by replacing commercial force sensors with strain gauges.

/pdf/contact-force-sensing-and-control-for-inserting-operation-pgijcle1.pdf

Contact Force Sensing and Control for Inserting Operation During Precise Assembly Using a Micromanipulator Integrated With Force Sensors

Picking and releasing the micro parts is one of the most important tasks for the microassembly robot. Downsizing the grippers used in the macro world is not suitable to fulfill the manipulation in the micro world because of the different scaling of gravity and adhesion. Therefore, a microgripper based on vacuum absorption is designed for the requirement of microassembly tasks. The design and production of the vacuum gas circuit and vacuum pipette are the key for the vac-sorb microgripper. Thus, the structure of the vac-sorb microgripper is discussed in particular as well as the requirement of the design, especially the vacuum gas circuit. The microgripper can automatically pick and release the object by means of the PC monitoring system. The experiment results testify the gripper can work reliably and safely, it satisfies the needs of the microassembly system.

An automatic vacuum microgripper

Many kinds of microgrippers have been developed for handling and manipulating micro-sized objects in the fields of various applications. However, the micro-force sensing is still one of the most troublesome problems to improve the reliability of manipulation. To circumvent the problem, in this paper, a microgripper with the structure of dual cantilevers, which is driven by two PZT bimorphs, was designed for the requirement of microassembly tasks. The piezoelectric bimorph model was built, and the displacement-voltage relationship was analysed. In order to obtain the micro force, a Wheatstone bridge circuit that was made up of resistance strain gauge sticked on the root of the PZT bimorph was introduced, sensing the signal because of the strain of the cantilever. Then, according to the sensor signal, PC monitoring system can adjust actuating voltage to achieve safe handling. The experiment results testify that the gripper can work reliably and safely, it satisfies the task of micro assembly.

Research on PZT bimorph microgripper system

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An automatic vacuum microgripper

Research on PZT bimorph microgripper system