Automating microassembly with ortho-tweezers and force sensing

Author

Thompson, J.A. ; Fearing, R.S.

Author_Institution

Dept. of EE&CS, California Univ., Berkeley, CA, USA

Volume

3

fYear

2001

fDate

2001

Firstpage

1327

Abstract

We describe a microassembly system based on two one degree of freedom probes ("ortho-tweezers") and a three degree of freedom translating stage, controlled by a Java application with Python scripting support. We describe how basic manipulation primitives can be combined in a Python script to perform automated, force-feedback controlled assembly operations. We demonstrate a fully automated pick and place task using 200×200×100 micron blocks. Using a temporary handling block, the system can manipulate long, thin, fragile parts, such as semiconductor strain gauges

Keywords

force feedback; force sensors; microassembling; micromanipulators; probes; 100 micron; 200 micron; Java application; Python scripting support; automated force-feedback controlled assembly operations; basic manipulation primitives; force sensing; long thin fragile parts; microassembly system; ortho-tweezers; pick and place task; probes; semiconductor strain gauges; temporary handling block; three degree of freedom translating stage; Automatic control; Capacitive sensors; Feedback loop; Fixtures; Force control; Grippers; Microassembly; Microscopy; Open loop systems; Probes;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.977166

Filename

977166