Automatic dextrous microhandling based on a 6-DOF microgripper

Authors: Zhou, Quan; Korhonen, Petteri; Laitinen, Jukka; Sjövall, Sami

Source: Journal of Micromechatronics, Volume 3, Numbers 3-4, 2006 , pp. 359-387(29)

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Abstract:

The demand for automatic quality inspection of individual micro-components has increased strongly in the micro-optoelectronics industry. In many cases, quality inspection of those micro-components needs dexterous microhandling. However, automatic dexterous handling of microcomponents is a very challenging issue which is barely explored. This paper presents a high-DOF (degrees of freedom) automatic dexterous handling and inspection system for micro-optoelectronic components using a novel 6-DOF piezoelectric microgripper. The control system includes three hierarchical layers: an actuator control layer, a motion planning layer and a mission control layer. Machine vision is applied in automatic manipulation. The performance of the system is demonstrated in a vision-based automatic inspection task for 300 × 300 × 100-μm-sized optoelectronics components and reached a cycle time of 7.1 ± 0.3 s.

Keywords: DEXTEROUS MICROHANDLING; 6-DOF MICROGRIPPER; AUTOMATIC MANIPULATION; VISION-BASED INSPECTION

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156856306777924662

Publication date: 2006-09-01