Micro parts assembly system with micro gripper and RCC unit

Author

Bang, Young-bong ; Lee, Kyung-min ; Kook, Juho ; Lee, Wonseok ; Kim, In-su

Author_Institution

Seoul Nat. Univ., South Korea

Volume

21

Issue

3

fYear

2005

fDate

6/1/2005 12:00:00 AM

Firstpage

465

Lastpage

470

Abstract

This paper presents a new micro assembly system, which is composed of a micro gripper, a micro remote center compliance (RCC) unit, a voice coil motor-driving mechanism and precision motion stages. The micro gripper is actuated by two shape memory alloy (SMA) wires, and its grip is 1 mm. The micro RCC unit has low translational and rotational stiffness sufficient for micro parts assembly. The voice coil motor-driving mechanism can generate linear motion with an adjustable stiffness, and it can also measure external force in the moving direction. An algorithm for the automatic assembly of micro parts is also proposed, and assembly experiments are performed.

Keywords

grippers; microassembling; micromanipulators; motor drives; robotic assembly; 1 mm; linear motion; micro gripper; micro parts assembly system; micro remote center compliance unit; shape memory alloy wires; voice coil motor-driving mechanism; Assembly systems; Coils; Force control; Force measurement; Grippers; Machine vision; Micromotors; Shafts; Shape memory alloys; Wires; Micro assembly; RCC; SMA; micro gripper; voice coil motor;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2004.838028

Filename

1435491