Title :
Using Microgripper for Adhesive Bonding in Automatic Microassembly System
Author :
Chang, R.J. ; Chen, C.C.
Author_Institution :
Nat. Cheng Kung Univ., Tainan
Abstract :
A PC-based visual-servoing automatic microassembly system was developed and tested. With compliant PU microgripper, regional-edge-statistics algorithm, and PD controller, a visual servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The main specifications of the system are: gripping range of 60~80 mum , working space of 7 mmtimes5.74 mmtimes15 mm, system bandwidth of 15 Hz. In the performance test, a copper wire with diameter 60 mum was automatically gripped and transported for adhesive bonding with a copper wire of 380 mum.
Keywords :
PD control; adhesive bonding; grippers; microassembling; micromanipulators; robotic assembly; visual servoing; PD controller; PU microgripper; adhesive bonding; automatic microassembly system; regional-edge-statistics algorithm; servoing system; Automatic control; Automatic testing; Bonding; Control systems; Copper; Grippers; Microassembly; PD control; System testing; Wire; Adhesive bonding; Microassembly; Microgripper; Visual servoing;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303583
