ICRA'09 Paper Abstract


Paper FrC9.3

Sariola, Veikko (Helsinki University of Technology), Zhou, Quan (Helsinki University of Technology), Koivo, Heikki Niilo (Helsinki University of Technology)

Three Dimensional Hybrid Microassembly Combining Robotic Microhandling and Self-Assembly

Scheduled for presentation during the Regular Sessions "Micro/Nano Robotics - III" (FrC9), Friday, May 15, 2009, 14:10−14:30, Room: 501

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Micro/Nano Robots, Dexterous Manipulation


Hybrid microassembly combining robotic microhandling and self-assembly aims at having the best of the both: good efficiency, reliability, accuracy and capability in creating complex structures. In this paper, a microassembly technique combining robotic tweezer-type microgripper and droplet self-alignment is discussed. The assembly method is evaluated by applying it in different 3D assembly cases, which would pose problems to a solution based on robotics or self-assembly alone. In the first, part rotation is realized by capillary forces. In the second, hierarchical structures are realized. Finally, cantilever structures are created using the method.



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