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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June 2015
Research-Article
Mesoscale Robotic Assembly With Orthogonal Optical Alignment for UV-LIGA Parts
Xin Ye,
Xin Ye
Department of Mechanical Engineering,
Haidian District,
Beijing 100081,
e-mail: yexin@bit.edu.cn
Beijing Institute of Technology
,5 South Zhongguancun Street
,Haidian District,
Beijing 100081,
China
e-mail: yexin@bit.edu.cn
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Xiaofeng Zhang,
Beijing 100094,
e-mail: 531976180@qq.com
Xiaofeng Zhang
Beijing Institute of Spacecraft System Engineering
,104 Youyi Street, Haidian District
,Beijing 100094,
China
e-mail: 531976180@qq.com
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Bile Wan,
Bile Wan
Beijing Institute of Spacecraft
Haidian District,
Beijing 100094,
e-mail: xiaole0220@126.com
Environment Engineering
,104 Youyi Street
,Haidian District,
Beijing 100094,
China
e-mail: xiaole0220@126.com
Search for other works by this author on:
Zhijing Zhang,
Zhijing Zhang
Department of Mechanical Engineering,
Haidian District,
Beijing 100081,
e-mail: zhzhj@bit.edu.cn
Beijing Institute of Technology
,5 South Zhongguancun Street
,Haidian District,
Beijing 100081,
China
e-mail: zhzhj@bit.edu.cn
Search for other works by this author on:
Pan Liu
Pan Liu
Department of Mechanical Engineering,
Haidian District,
Beijing 100081,
e-mail: liupan@bit.edu.cn
Beijing Institute of Technology
,5 South Zhongguancun Street
,Haidian District,
Beijing 100081,
China
e-mail: liupan@bit.edu.cn
Search for other works by this author on:
Xin Ye
Department of Mechanical Engineering,
Haidian District,
Beijing 100081,
e-mail: yexin@bit.edu.cn
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
Haidian District,
Beijing 100094,
e-mail: xiaole0220@126.com
Environment Engineering
,104 Youyi Street
,Haidian District,
Beijing 100094,
China
e-mail: xiaole0220@126.com
Zhijing Zhang
Department of Mechanical Engineering,
Haidian District,
Beijing 100081,
e-mail: zhzhj@bit.edu.cn
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,
Haidian District,
Beijing 100081,
e-mail: liupan@bit.edu.cn
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. Jun 2015, 137(3): 031021 (9 pages)
Published Online: June 1, 2015
Article history
Received:
March 7, 2013
Revision Received:
March 22, 2015
Online:
April 28, 2015
Citation
Ye, X., Zhang, X., Wan, B., Zhang, Z., and Liu, P. (June 1, 2015). "Mesoscale Robotic Assembly With Orthogonal Optical Alignment for UV-LIGA Parts." ASME. J. Manuf. Sci. Eng. June 2015; 137(3): 031021. https://doi.org/10.1115/1.4030269
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