Research on microrobot-based microassembly system

摘要

With the increasing demands for micro instruments, requirements for precise processing and assembly have become urgent. Micro assembly is a new application for microrobots which involves several high-tech methods, including micro actuation, precise positioning, sensing, signal processing, communication. It brings many challenges for robotic researchers. A microassembly system is a desktop manipulating platform with the abilities of transporting and manipulating micro parts. It is composed of a small precise mobile stage, flexible microrobots, light microscope, visual feedback system, and control system. The architecture and key technologies of the microassembly system are discussed in the paper, and a prototype of a microassembly system is proposed. Some details about the development of a flexible microrobot are also discussed.