The Assembly of Millimeter Sized Mass Producible Autonomous Robots

摘要

This paper describes the assembly of the prototype I-SWARM robot and the mechanical testing of the chosen assembly process. The design of the interface of the different modules of the robot is described. Multiple units of the five different modules where surface mounted on printed circuit boards using conductive adhesive. The shear stress of the joints of each module was evaluated using a load cell and microscope. The assembly of the entire micro system was done on a thin double sided flexible printed circuit board using conductive adhesive. To ensure that the modules would survive the folding of the flexible printed circuit board they were underfilled with cyanoacrylate. The final three dimensional robot structure was folded together using tweezers and adhesive.