Automated Micro-assembly tasks based on hybrid Force/position Control.

Kanty Rabenorosoa (1) , Cédric Clévy (1) , Philippe Lutz (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

Full automated micro-assembly is an ongoing challenge for researchers. The use of force control constitutes a suitable approach to achieve automated micro-assembly. It takes into account microscale specificities like pull off forces, measurement resolution... The integration of force sensors in micro-assembly station is discussed. An experimental setup is proposed to achieve automated guiding tasks of 2mm x 50 μm x 50 μm microparts. It is based on two-sensing-finger microgripper of 2 mN force range. Interaction forces are modeled and used to establish suitable strategy for guiding according to stability conditions and response time. Control scheme which combines force and position control is proposed and its integration to dSPACE board for real time control is achieved. Automated guiding task is performed with dynamic rejection of perturbation within 35 ms and a ramp tracking with a contact force of 20 μN between the rail side and the micropart is obtained.

Mots clés: ramp tracking; Micro-assembly; hybrid force/position control; force sensor; guiding task; ramp tracking.

Domaines: Micro et nanotechnologies/Microélectronique

Kanty Rabenorosoa, Cédric Clévy, Philippe Lutz. Automated Micro-assembly tasks based on hybrid Force/position Control.. 7th International Workshop on Microfactories, IWMF'10., Oct 2010, Daejeon Convention Center, South Korea. pp.89-94. ⟨hal-00546353⟩