Title :
Micro-assembly planning with van der Waals force
Author :
Feddema, John T. ; Xavier, Patrick ; Brown, Rebecca
Author_Institution :
Sandia Nat. Labs., Albuquerque, NM, USA
Abstract :
Investigates a new aspect of fine motion planning for the micro-domain. As parts approach 1-10 μm or less in outside dimensions, interactive forces such as van der Waals and electrostatic forces become major factors that greatly change the assembly sequence and path plans. It has been experimentally shown (Miyazaki and Sato, 1996, and Koyano and Sato, 1996) that assembly plans in the micro-domain are not reversible, motions required to pick up a part are not the reverse of motions required to release a part. The paper develops the mathematics required to determine the goal regions for pick up, holding, and release of a micro-sphere being handled by a rectangular tool
Keywords :
assembly planning; microassembling; micromanipulators; micromechanical devices; path planning; van der Waals forces; 1 to 10 mum; fine motion planning; holding; micro-assembly planning; micro-sphere; pick up; rectangular tool; release; van der Waals force; Density estimation robust algorithm; Electrostatics; Fixtures; Grippers; Laboratories; Micromechanical devices; Monolithic integrated circuits; Probes; Robotic assembly; Scanning electron microscopy;
Conference_Titel :
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Porto
Print_ISBN :
0-7803-5704-3
DOI :
10.1109/ISATP.1999.782931
