| Autor: |
Shen, Yantao, Xi, Ning, Song, Booheon, Li, Wen J., Pomeroy, Craig A. |
| Zdroj: |
Journal of Micromechatronics; 2005, Vol. 3 Issue 3/4, p239-266, 28p |
| Abstrakt: |
The objective of this paper is to develop a networked cooperative environment to achieve human/robot cooperation for reliable and dependable remote microassembly. At a microscale, surface adhesion forces, such as van der Waals, surface tension and electrostatic forces, become stronger than the downward gravitational force. For a reliable and dependable tele-microassembly, it is absolutely necessary to allow close monitoring of the magnitude and direction of those micro-forces interacting with microdevices during the assembly process. In this paper, based on integrating an in situ polyvinylidene fluoride piezoelectric micro-force sensing tool with a resolution in the range of μN, and using event-synchronization for the feedback of assembly video and micro-force, the developed networked human/robot cooperative platform can greatly advance applications in tele-microassembly. As a result, the reliable and dependable human/robot cooperative assembly operations can be achieved and extended to the single or multiple remote work-cells through a local area network or the Internet. This platform has been used successfully to perform a remote assembly of surface MEMS structures with the event-synchronized micro-force/visual feedback via the Internet between USA and Hong Kong. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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