NDLI: Vision guided multi-probe assembly of 3D microstructures

Content Provider	IEEE Xplore Digital Library
Author	Wason, J.D. Wen, J.T. Young-Man Choi Gorman, J.J. Dagalakis, N.G.
Copyright Year	2010
Description	Author affiliation: Center for Automation Technologies & Systems, Rensselaer Polytechnic Institute, Troy, NY 12180, USA (Wason, J.D.; Wen, J.T.) \|\| Intelligent Systems Division, National Institute of Standards and Technology, Gaithersburg, Maryland 20899-8230, USA (Young-Man Choi; Gorman, J.J.; Dagalakis, N.G.)
Abstract	This paper describes the operator assisted automated assembly of a 3-legged spatial platform by using a vision guided multi-probe assembly process. This is the first step towards the ultimate goal of building a microscale active spatial platform. Two issues are highlighted in this paper: contact management and vision feedback. Using multiple probes for part grasping and manipulation has the advantage of robustness and versatility as compared to micro-grippers. However, the contacts between the probes and the part need to be carefully managed to ensure a grasp that is stable for part pick-up and yet manipulable to allow part motion in a controlled fashion. By using vision guidance, the probes can be coordinated to grasp the parts and lift them off the die securely and reliably. We show that the contacts act as point contacts with friction, so when a part is pressed against a stationary probe, the part rotates about the axis between the contacts, changing its orientation so it may be inserted into a slot in the substrate. We have demonstrated that the three legs can be assembled in a fully automated fashion via multiple-camera vision feedback. The platform is at present assembled via tele-operation. The assembled microstructure measures 450 µm×600 µm. We are now working on the full automation of the assembly onto a substrate populated with MEMS actuators.
Starting Page	5603
Ending Page	5609
File Size	1501846
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5651221
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Probes Force Cameras Assembly Adhesives Grasping NIST
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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