Development of a virtual and physical work cell to assemble micro-devices

• Published in: Robotics and computer-integrated manufacturing Vol. 21; no. 4; pp. 431 - 441
• Main Authors: Cecil, J., Gobinath, N.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.08.2005
• Subjects: Micro-assembly; Virtual prototyping; Micro-assembly; Virtual prototyping
• ISSN: 0736-5845; 1879-2537
• DOI: 10.1016/j.rcim.2004.11.014

The term ‘micro-assembly’ is used to describe the assembly of micron-sized parts that are extremely small (in the order of 10 −6 m). As manual assembly of micro-devices is extremely difficult and tedious, there is a need to design computer-controlled approaches to facilitate rapid assembly. In this context, the design of automated or semi-automated environments for micro-assembly applications becomes important. In this paper, the design of a micro-assembly cell is discussed along with the development of a virtual assembly environment to study micro-assembly problems and issues. A genetic algorithm-based assembly sequence generator is discussed which works in coordination with a 3D path planning approach. A physical micro-assembly cell has been created to aid in the assembly of such micro-devices. This physical cell is interfaced with a virtual reality (VR)-based assembly environment to assist in the micro-assembly activities and comprises of micro-positioners, a micro-gripper (for pick-and-place operations to complete specific micro-assembly tasks), and a camera (to provide guidance and feedback during and after assembly).