Using Microgripper for Adhesive Bonding in Automatic Microassembly System

A PC-based visual-servoing automatic microassembly system was developed and tested. With compliant PU microgripper, regional-edge-statistics algorithm, and PD controller, a visual servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The main specifications of the system are: gripping range of 60~80 mum , working space of 7 mmtimes5.74 mmtimes15 mm, system bandwidth of 15 Hz. In the performance test, a copper wire with diameter 60 mum was automatically gripped and transported for adhesive bonding with a copper wire of 380 mum.