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Research Papers

Mesoscale Robotic Assembly With Orthogonal Optical Alignment for UV-LIGA Parts

[+] Author and Article Information
Xin Ye

Department of Mechanical Engineering,
Beijing Institute of Technology,
5 South Zhongguancun Street,
Haidian District,
Beijing 100081, China
e-mail: yexin@bit.edu.cn

Xiaofeng Zhang

Beijing Institute of Spacecraft System Engineering,
104 Youyi Street, Haidian District,
Beijing 100094, China
e-mail: 531976180@qq.com

Bile Wan

Beijing Institute of Spacecraft
Environment Engineering,
104 Youyi Street,
Haidian District,
Beijing 100094, China
e-mail: xiaole0220@126.com

Zhijing Zhang

Department of Mechanical Engineering,
Beijing Institute of Technology,
5 South Zhongguancun Street,
Haidian District,
Beijing 100081, China
e-mail: zhzhj@bit.edu.cn

Pan Liu

Department of Mechanical Engineering,
Beijing Institute of Technology,
5 South Zhongguancun Street,
Haidian District,
Beijing 100081, China
e-mail: liupan@bit.edu.cn

Contributed by the Manufacturing Engineering Division of ASME for publication in the JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING. Manuscript received March 7, 2013; final manuscript received March 22, 2015; published online April 28, 2015. Assoc. Editor: Jaime Camelio.

J. Manuf. Sci. Eng 137(3), 031021 (Jun 01, 2015) (9 pages) Paper No: MANU-13-1088; doi: 10.1115/1.4030269 History: Received March 07, 2013; Revised March 22, 2015; Online April 28, 2015

This paper proposes an assembly system for ultraviolet-lithographie galvanik abformung (UV-LIGA) parts with a robotic manipulator. Both images of base part and object part could be obtained simultaneously from an in-house orthogonal optical alignment vision system. Two microgrippers were introduced to realize the reliable clamping. An initial calibration method was presented to ensure assembly accuracy. Assembly experiments were conducted with success rates of 80% and the time consumption of 20 min for all four parts assembly. Suspected causes of failure are motion mechanisms' uncertainty, part dislocation resulted from inertia force when microgripper is moving, and the error which is produced in the detection process because of random factors.

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Figures

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Fig. 1

The multi-DOF manipulator

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Fig. 3

The absorption head in the first stage

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Fig. 4

The absorption microgripper in the second stage

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Fig. 5

The schematic view of the system

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Fig. 6

Schematic diagram of prism calibration: (a) + calibration board, (b) first step, (c) second step, (d) third step, and (e) forth step

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Fig. 7

Calibration principle using optical micrometer: (a) principle diagram of calibration of A-position and (b) calibration experiment of A-position

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Fig. 8

Calibration templates

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Fig. 9

Calibration of B and C combining with the orthogonal optical system

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Fig. 10

Line charts of deviation data

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Fig. 12

The contrast diagram of simultaneous image and timeshare image

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Fig. 13

Two parts' alignment process: (a) the assembly process of pin locking structure, (b) the assembly process of spring, and (c) the assembly process of sliding block

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