This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts. The compensation of misalignment during robotic peg-in-hole assembly is achieved by this compliant micro gripper because the piezoelectric actuator has capability of producing the displacement i...

Electro active polymers (EAPs) exhibit large electrically induced strains (bending or stretching) with electrical stimuli. EAPs are utilized as actuators in micro gripper and micromanipulator in micro robotics activities. Remote center compliance (RCC) based micro gripper is developed to facilitate insertion of peg-in-hole (PIH) for micro assembly operations. An effect of RCC compliance during ...

This abstract outlines current developments of a micro-assembly facility focusing on studies using a three fingered gripper. Individual fingers of the gripper comprise thin fibers ranging in diameter from 7 to 80 μm that are attached to quartz based oscillators and are capable of sensing proximity, contact, and controlling adhesion forces. To optimize gripper finger performance, an electrolytic...

Optical micro parts, such as glass fibres, require handling and alignment accuracies down to the sub micrometer range. Addressing this task, one aim of the Fraunhofer IPT is the development of new concepts of active gripper systems. In this context a highly integrated, adaptive, rugged and economical gripper system particularly for accurate handling and alignment of flexible micro parts down to...

Adhesive forces become predominant in the micro world comparing to the gravity effect implying the development of new micro manipulation strategies. This paper presents the design and conception of a gripper that use the inertial principle for the release (applying a high acceleration, in the order of 10’000g) and the adhesion for catching a micro part of 50μm with the goal of precisely control...

The current approach to reducing impact forces during component placement in micro-assembly is to couple the gripper with 5 Degrees Of Freedom (DOF) to the drive unit of the placement device, wherein the mass of the gripper has been reduced maximally. At the end of the placement motion the drive unit will move relatively to the gripper, as linear as possible given the limitations of the constru...

Piezoelectric bimorphs have been used as a micro-gripper in many applications, but the system might be complex and the response performance might not have been fully characterized. In this study the dynamic characteristics of bending piezoelectric bimorphs actuators were theoretically and experimentally investigated for micro-gripping applications in terms of deflection along the length, transi...

Robotic microhandling is disturbed by the adhesion phenomenon between the micro-object and the grippers. This phenomenon is directly linked to both the object and the gripper surface chemical composition. We propose to control adhesion by using chemical self-assembly monolayer (SAM) on both surfaces. Previous distance-force measurements done with AFM have shown that the liquid pH can be used to...

The first part of the paper describes different concepts for micro production. The potential of miniaturised size adapted robots is pointed out based on their flexibility. Flexibility thereby is discussed in a detailed way that leads to two different ways of robot integration. The second part of the paper deals with the desktop factory concept. Beginning with a short state of the art for deskto...

A novel MEMS based Electro thermal Gripper is proposed in this paper, the gripper tool proposed in this paper is designed to handle the micro objects of about 100-150 microns. The gripper tool proposed in this article is materialized with Nickel Alloy of UNS NO4400. The material proposed for the Gripper has better heat resistant characteristics and can with stand the high potential applications...