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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

Abstract

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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