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Qualification of standard industrial robots for micro-assembly

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2 Author(s)
Hohn, M. ; Inst. for Machine Tools, Tech. Univ., Munchen, Germany ; Robl, C.

Precision micro-assembly requires special tools, in order to fulfil the high demands in accuracy and control of the assembly process. A precise gripper tool, the micro-positioning system (MPS) has been developed, that makes micro-assembly with industrial robots possible. The whole assembly process can be surveyed and controlled with a vision system. A compact micromanipulator based on piezo-actuators makes visual servoing with a high accuracy possible. An integrated 3D-accelerometer system senses vibrations of the handling device and disturbances of the environment, that can be dynamically compensated by the piezo-actuators. The MPS can be adapted to different assembly applications due to changeable grippers. The combination of a standard industrial robot workspace and the high precision of the MPS results in cost advantages comparing to precision handling devices. A sample application, the assembly of radio-controlled wrist-watches, shows the performance potential of the MPS

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

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