Control System of a Smart Microrobot Cell

摘要

To build a microsystem, different individual components must be very exactly assembled in one or more steps. Within a flexible microrobot-based microassembly station (MMS), it is possible to perform an entire assembly process automatically under a light microscope. The paper presents a microassembly control system that is being implemented into the station. The planning level of the control system is discussed in detail. A common microassembly model, which is based on geometric reasoning, is introduced, and all planning steps - the generation of feasible assembly sequences, selection of the best assembly plan and allocation of the assembly operations to the robots employed by an MMS ― are described. The planning system developed has been tested by an example of an automatic assembly planning of the worldwide smallest micro motor.