Modeling microassembly tasks with interactive forces

Surface effect forces and magnetic forces complicate the contact phase of assembly of MEMS devices. Part interactions must be accounted for in the assembly strategy. In this paper we model micropart interactions in the presence of electrostatic and magnetic forces. Two representative assembly scenarios, pick-and-place tasks using a microtweezer and the assembly of a microactuator, where these forces dominate, are analyzed. Based on this analysis we develop an assembly strategy for assembling the hybrid microactuator. The developed strategy is experimentally validated and results of the demonstration are presented