Robotics system used for gripping wires with dozens of microns based on stereo light microscope

In this paper, a robotics system is designed for the function of automatic gripping wires, and which is composed of computer vision system, milli-gripper and control system. In the robotics system, thin copper wires with a diameter of about 50-70 microns are manipulated through the positioning of a vision system, the motion of multi-freedoms control system and the gripping function of milli-gripper. A micro gripper is used to clamping the tip of copper wire, moving to the pad position and releasing wires. The vision system use a binocular stereo vision positioning principle, stereo images are offered by a stereo light microscope with two CCD cameras, and 3D position of copper wire tip is reconstructed based on image processing technology. The gripper is driven by magnetic force supplied by a magnetic structure designed in the robotics system. And the gripping action is executed through bending deformation of the cantilever being a leg of the gripper. This gripper has long distance of run and high response frequency.