Gluing free assembly of an advanced 3D structure using visual servoing.

Sounkalo Dembélé (1) , Nadine Le Fort-Piat (1) , Naresh Marturi (1) , Brahim Tamadazte (1)

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

The paper deals with robotic assembly of 5 parts by their U-grooves to achieve stables 3D MEMS, without any use of soldering effect. The parts and their grooves measure 400 m 400 m 100 m 1.5 m and 100 m 100 m 100 m 1.5 m leading to an assembly clearance ranging from -3 and +3 m. Two visual servo approaches are used simultaneously: 2D visual servo for gripping and release of parts and 3D visual servo for displacement of parts. The results of experiments are presented and analyzed.

Mots clés: 3D microassembly; 3D MEMS; 2D visual servoing; 3D visual servoing.; 3D visual servoing

Domaines: Micro et nanotechnologies/Microélectronique

Sounkalo Dembélé, Nadine Le Fort-Piat, Naresh Marturi, Brahim Tamadazte. Gluing free assembly of an advanced 3D structure using visual servoing.. 23rd Micromechanics and Microsystems Europe Workshop, MME'12., Sep 2012, Ilmenau, Germany. 6 p. ⟨hal-00799070⟩