With the trend of miniaturization of mechatronics products, the demands on microassembly increase substantially. Due to the scaling effect, handling and planning in microassembly is considerably different from those in conventional assembly. One important issue is to study how the environmental parameters will shape the scaling effect and consequently the handling of micro parts. A controlled environment will enable a better understanding of the handling tasks in microassembly and consequently provide a necessary tool for the development of model-based microassembly methods. Moreover, environmental parameters can affect the performance of microassembly system. This paper will present our progress of developing a microassembly station with controlled environment. The microassembly station includes a microassembly platform that is able to mount various tools such as microscopes, mobile stages, micro grippers, etc. The microassembly platform is installed in a controlled environment where temperature and humidity can be controlled, and mechanical vibration is damped. Such a microassembly station facilitates researching microassembly methods and techniques under different environmental conditions. Early study of the effects of environmental parameters to microassembly system and pick-and-place operation is reported as well.
This paper presents a computer-vision based position controller for a highly non-linear parallel piezohydraulic micromanipulator: in addition to its non-linear kinematics the micromanipulator experiences hysteresis and drive induced by piezoelectric actuators. The controller consists of a decoupling matrix that provides the decoupled translations (xyz) in the task frame and three Single Input Single Output (SISO) PI controllers for the translations. Position measurement is performed by a vision system that determines the x and y coordinates of the end- effector using a modified Hierarchical Chamfer Matching Algoritm (HCMA) and the z position using a depth-from-defocus method. Experiments show that the proposed controller is capable of serving the parallel micromanipulator with a sub-micron accuracy at a sampling rate of 18 Hz.
This paper will present a virtual environment for operations in the micro world. Virtual reality is a very important tool in task and assembly planning of micro assembly. This virtual environment presented in this paper is based on our micro operation model that takes into account rigid body dynamics, contact forces, friction forces, and available knowledge of van der Walls forces, electrostatic forces. This work lays ground for further development of micro operation techniques and micro assembly planning.
This paper presents our work on modeling of micro operations. The model is based on rigid body dynamics but it also takes into consideration dominant micro world forces such as van der Waals forces and electrostatic forces, in addition to friction and rolling resistance. The operations are assumed to be performed in a dry environment. The proposed work lays ground for future development of virtual micro operation environment.
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