Use of Van-der-Waals Forces Actuated Polyurethane Micro-grippers in the Handling of IC Micro-components

摘要

The handling of integrated circuit (IC) micro-parts is a great challenge in micro-assembly of electronics micro-components. The micro-parts adhere to the two-fingered mechanical grippers commonly used, and in the event that they are released precision is comprised. In some cases the micro-parts are strained or broken during the handling operations.  The paper presents a solution through the use of Van-der-Waals forces actuated polyurethane grippers. These grippers are advantageous in that they do not leave residual stresses, charges and strains on the handled IC micro-components.  They afford precision position of micro-parts and provide the necessary working space for soldering operations. A motoman robot coupled with polyurethane micro-grippers was used to pick, transfer and place micro-parts ranging from 10 mm down to 500 µm in the micro-assembly of IC micro-components.