Flexible Micro-Assembly System Equiped with an Automated Tool Changer

This paper deals with the design, fabrication and experimental validation of several modules of a micro-assembly system. On one hand, a microgripper is integrated in a four degrees of freedom system. On the other hand, a tool changer is designed. It enables to exchange automatically the tip part of the microgripper and then dedicated tools can be used to achieve specific tasks. The principle of this tool changer relies on a thermal glue whose phase (liquid or solid) is controlled by heat generators. This system is based on the modeling of thermal phenomena in the tools during a cycle of tool exchange. A compliant system is added to limit micromanipulation forces applied during assembly tasks like insertions. Finally, the successful assembly of several microcomponents is detailed, highlighting the capabilities and benefits of the whole system.