Design and control of a dexterous micro manipulator for the accurate miniature electro device assembly

For the assemblies of miniature electronic or optic devices, precision micro manipulation for the accurate alignment is one of the principal challenges. Noting the mechanical misalignment of those precision devices normally results in failure of device functionality, it is necessary to develop an efficient tool for the identification and correction of the problem. Since the corrective activity of those devices usually accompanies some level of plastic deformation, a proper identification of force and deformation during the operation might be essential. Besides, since most of the devices have very dense population of tiny parts spread and arranged in a two-dimensional surface, during the corrective operation maintaining accessibility with a clear path would not be straightforward. Designing process of a manipulating system that accommodates these specific requirements is presented in the present article