Abstract
A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU microgripper, regional-edge-statistics (RES) algorithm, and PD controller, a visual-servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The RES algorithm estimated and tracked a gripper’s centroid to implement a visual-servoing control in the microassembly operation. The main specifications of the system are: gripping range of 60~80μm, working space of 7mm×5.74mm×15mm, system bandwidth of 15Hz. In the performance test, a copper rod with diameter 60μm was automatically gripped and transported for transferring glue and bonding. The 60μm copper rod was dipped into a glue container and moved, pressed and bonding to a copper rod of 380μm. The amount of binding glue was estimated about 5.7nl.
Highlights
In the manufacturing cycle of microsystems, assembly is a crucial operation in production [1]
With a compliant PU microgripper, regional-edge-statistics (RES) algorithm, and PD controller, a visual-servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding
There are several methods such as anodic bonding, eutectic bonding, welding bonding and adhesive bonding which can be utilized for micro joining [1,2]
Summary
In the manufacturing cycle of microsystems, assembly is a crucial operation in production [1]. In the application of adhesive bonding, a traditional method is to use a glue dispenser [3] for the injection of a micro drop on the binding surface of a component. Another component is applied and pressed for bonding. A direct approach by utilizing a manipulator to grasp and hold a component instead of using a tool can be applied for transferring glue in the micro adhesive bonding. By employing the precision design axioms on system design, a visual-servoing automatic microassembly system is developed to achieve the requirements of adhesive bonding in micro manipulations. The research on the development of the visual-servoing microassembly system is concluded
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