Parts Manipulation on a MEMS Intelligent Motion Surface

摘要

An intelligent motion surface consisting of an array of micro-robots has been designed and simulated for use in requiring the manipulation of parts for micro and precision assembly. The array was designed for implementation in Micro-Electro-Mechanical Systems (MEMS) technology. A specific form of micro- robot, called a LAMBDA machine, was used in the initial design. Individual micro-robots can be programmed so the ensemble can operate in a variety of modes, called gaits. Groups of contiguous micro-robots executing identical but phase shifted motions (gaits) have the effect of imparting a spatially defined force field on a part or set of parts, placed on the group. Appropriate choice of force fields in shape, spatial extent and vector direction is shown to cause parts to be moved to assembly operations like translation, rotation, orientation, aligning and filtering based on part shape. A simulator was built to explore the practicality of programming a miniature assembly bench constructed by silicon micromachining an array of these micro-robots. Image and graphics based modelling techniques were explored for speed: graphics based simulation is superior especially when multiple parts are involved. Experiment results on primitive assembly operations, limitations of approach, extensions and possibilities for future work are discussed. Microrobotic array, Intelligent motion surface, Parts orienting, Shape dependent filtering, Micro-robotic assembly system, Micro-robotic gaits.