| Automatic micropart assembly of 3-Dimensional structure by vision based control
Lidai Wang
The Journal of Mechanical Science and Technology, vol. 22, no. 12, pp.2426-2435, 2008
Abstract : We propose a vision control strategy to perform automatic microassembly tasks in three-dimension (3-D) and develop
relevant control software: specifically, using a 6 degree-of-freedom (DOF) robotic workstation to control a passive
microgripper to automatically grasp a designated micropart from the chip, pivot the micropart, and then move the
micropart to be vertically inserted into a designated slot on the chip. In the proposed control strategy, the whole microassembly
task is divided into two subtasks, micro-grasping and micro-joining, in sequence. To guarantee the success
of microassembly and manipulation accuracy, two different two-stage feedback motion strategies, the pattern matching
and auto-focus method are employed, with the use of vision-based control system and the vision control software developed.
Experiments conducted demonstrate the efficiency and validity of the proposed control strategy.
Keyword : MEMS; Automatic; Micro; Assembly; Vision |
