A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU micr...A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU microgripper, regional-edge-statistics (RES) algorithm, and PD controller, a visual-servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The RES algorithm estimated and tracked a gripper’s centroid to implement a visual-servoing control in the microassembly operation. The main specifications of the system are: gripping range of 60~80μm, working space of 7mm×5.74mm×15mm, system bandwidth of 15Hz. In the performance test, a copper rod with diameter 60μm was automatically gripped and transported for transferring glue and bonding. The 60μm copper rod was dipped into a glue container and moved, pressed and bonding to a copper rod of 380μm. The amount of binding glue was estimated about 5.7nl.展开更多
For future micro-and nanotechnologies,the manufacturing of miniaturized,functionalized,and integrated devices is indispensable.In this paper,an assembly technique based on a bottom-up strategy that enables the manufac...For future micro-and nanotechnologies,the manufacturing of miniaturized,functionalized,and integrated devices is indispensable.In this paper,an assembly technique based on a bottom-up strategy that enables the manufacturing of complex microsystems using only optical methods is presented.A screw connection is transferred to the micrometer range and used to assemble screwand nut-shaped microcomponents.Micro-stereolithography is performed by means of two-photon polymerization,and microstructures are fabricated and subsequently trapped,moved,and screwed together using optical forces in a holographic optical tweezer set-up.The design and construction of interlocking microcomponents and the verification of a stable and releasable joint form the main focus of this paper.The assembly technique is also applied to a microfluidic system to enable the pumping or intermixing of fluids on a microfluidic chip.This strategy not only enables the assembly of microcomponents but also the combination of different materials and features to form complex hybrid microsystems.展开更多
An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet (UV) curable ad...An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet (UV) curable adhesive. Two three-degree-of-freedom micromanipulators axe used to move the glass tube and the dispensing needle, respectively. Visual feedback is provided by an optical microscope. The angle of the microscope axis is precisely calibrated using an autofocus strategy. Robust image segmentation method and feature extraction algorithm are developed to obtain the features of the hole, the glass tube and the dispensing needle. Visual servo control is employed to achieve accurate aligning for the tube and the hole. Automated adhesive dispensing is used to bond the glass tube and the silicon substrate together after the insertion. On-line monitoring ensures that the diameter of the adhesive spot is within a desired range. Experimental results demonstrate the effectiveness of the proposed strategy.展开更多
Operators suffer much diffieulty in manipulating miero-size objects without the assistance of friendly interfaces due to the scaling effects in micro worht. The paper presented a general framework for mieromanipulatio...Operators suffer much diffieulty in manipulating miero-size objects without the assistance of friendly interfaces due to the scaling effects in micro worht. The paper presented a general framework for mieromanipulation robot hased on virtual reality technology. With the framework we brought forward a FDH (Fixed Direction Hulls) based hounding box method to handle the eollision ,teteetion of the peg-in-hole mieroassembly. The eollision response model for the collision between micro needle and hole was presented. The virtual three and corresponding displacement were calculated with the model of bending deformation and pressing ,teformation. Experiments verify the validity of collision response model.展开更多
Micromanipulation has been recognized to be very difficult due to the inefficiency oftraditional micromanipulation methods. The paper present a general framework formicromanipulation robot based on virtual reality tec...Micromanipulation has been recognized to be very difficult due to the inefficiency oftraditional micromanipulation methods. The paper present a general framework formicromanipulation robot based on virtual reality technology. The significance of in-troducing virtual reality into micromanipulation is analyzed, and the current researchin this field is reviewed. Based on this, we propose a micromanipulation system thatintegrates virtual environment with vision feedback and force feedback. The systemrealizes vision close-loop control and force close-loop control to enhance the perfor-mance of micromanipulation device. A graphics modelling method is proposed for amicroassembly task. Hardware and software implementation is described and discus-sion about the research is presented.展开更多
Bonding with adhesives is an important technique for building up hybridmicrosystems. Some adhesives are tested with capillary dispensing system for microassembly, andvolume of droplets less than 10 nl with good repeat...Bonding with adhesives is an important technique for building up hybridmicrosystems. Some adhesives are tested with capillary dispensing system for microassembly, andvolume of droplets less than 10 nl with good repeatability can be acquired. 1-part UV curingadhesive hardens rapidly and is suitable for bonding of transparent microparts. Light-activatedadhesive starts the curing process in an adjustable short period of time after the radiation ofvisible light, and thus suits bonding of non-transparent microparts. A method is proposed forbonding the guides of a miniature linear motor being developed by collaborate research center 516(SFB516) in Germany. With the method high assembly accuracy in the vertical direction can beguaranteed. By making small grooves on the stator for containing adhesive, the deterioration of theaccuracy due to the thickness of adhesive layer can be avoided. The criteria on deciding the size ofthe groove are given and analyzed. Vision based inspection method is introduced for automaticassembly of the guides. The dispensing volume and position of dispensed adhesive droplets can bedetected for ensuring the bonding quality.展开更多
Carbon-based microassemblies(CMs) have attracted significant attention in numerous applications due to their unique hierarchical structures and delicate building blocks,especially when hollow carbon spheres(HCSs) are ...Carbon-based microassemblies(CMs) have attracted significant attention in numerous applications due to their unique hierarchical structures and delicate building blocks,especially when hollow carbon spheres(HCSs) are reasonably introduced into the construction.Herein,a new design for novel HCSscombined CMs is proposed.Remarkably,the HCSs are linear carbon bubbles linked one-by-one, arranging into necklaces decorating on the graphene microfolds.Detailed thermal analysis confirm that high temperatures straighten the linked carbon bubbles into bamboo-like carbon nanofibers,evidently due to the attenuation of doping degree.Benefiting from the abundant active sites of carbon bubbles,the obtained CMs exhibit satisfactory electrocatalytic activity for oxygen reduction reactions.This work establishes a bridge to precisely control the synthesis of carbon-based hierarchical architectures.展开更多
文摘A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU microgripper, regional-edge-statistics (RES) algorithm, and PD controller, a visual-servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The RES algorithm estimated and tracked a gripper’s centroid to implement a visual-servoing control in the microassembly operation. The main specifications of the system are: gripping range of 60~80μm, working space of 7mm×5.74mm×15mm, system bandwidth of 15Hz. In the performance test, a copper rod with diameter 60μm was automatically gripped and transported for transferring glue and bonding. The 60μm copper rod was dipped into a glue container and moved, pressed and bonding to a copper rod of 380μm. The amount of binding glue was estimated about 5.7nl.
基金We thank the German Research Foundation DFG(Deutsche Forschungsgesellschaft)for their generous support within the Reinhardt Koselleck project(OS 188/28-1).
文摘For future micro-and nanotechnologies,the manufacturing of miniaturized,functionalized,and integrated devices is indispensable.In this paper,an assembly technique based on a bottom-up strategy that enables the manufacturing of complex microsystems using only optical methods is presented.A screw connection is transferred to the micrometer range and used to assemble screwand nut-shaped microcomponents.Micro-stereolithography is performed by means of two-photon polymerization,and microstructures are fabricated and subsequently trapped,moved,and screwed together using optical forces in a holographic optical tweezer set-up.The design and construction of interlocking microcomponents and the verification of a stable and releasable joint form the main focus of this paper.The assembly technique is also applied to a microfluidic system to enable the pumping or intermixing of fluids on a microfluidic chip.This strategy not only enables the assembly of microcomponents but also the combination of different materials and features to form complex hybrid microsystems.
基金supported by National Natural Science Foundation of China under(Nos.61227804 and 61105036)
文摘An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet (UV) curable adhesive. Two three-degree-of-freedom micromanipulators axe used to move the glass tube and the dispensing needle, respectively. Visual feedback is provided by an optical microscope. The angle of the microscope axis is precisely calibrated using an autofocus strategy. Robust image segmentation method and feature extraction algorithm are developed to obtain the features of the hole, the glass tube and the dispensing needle. Visual servo control is employed to achieve accurate aligning for the tube and the hole. Automated adhesive dispensing is used to bond the glass tube and the silicon substrate together after the insertion. On-line monitoring ensures that the diameter of the adhesive spot is within a desired range. Experimental results demonstrate the effectiveness of the proposed strategy.
文摘Operators suffer much diffieulty in manipulating miero-size objects without the assistance of friendly interfaces due to the scaling effects in micro worht. The paper presented a general framework for mieromanipulation robot hased on virtual reality technology. With the framework we brought forward a FDH (Fixed Direction Hulls) based hounding box method to handle the eollision ,teteetion of the peg-in-hole mieroassembly. The eollision response model for the collision between micro needle and hole was presented. The virtual three and corresponding displacement were calculated with the model of bending deformation and pressing ,teformation. Experiments verify the validity of collision response model.
基金supported by the National High Technology Research and Development Program of China (No.2002AA40445O)also supported by the National Defense Basic Scientific Research Foundation of China
文摘Micromanipulation has been recognized to be very difficult due to the inefficiency oftraditional micromanipulation methods. The paper present a general framework formicromanipulation robot based on virtual reality technology. The significance of in-troducing virtual reality into micromanipulation is analyzed, and the current researchin this field is reviewed. Based on this, we propose a micromanipulation system thatintegrates virtual environment with vision feedback and force feedback. The systemrealizes vision close-loop control and force close-loop control to enhance the perfor-mance of micromanipulation device. A graphics modelling method is proposed for amicroassembly task. Hardware and software implementation is described and discus-sion about the research is presented.
文摘Bonding with adhesives is an important technique for building up hybridmicrosystems. Some adhesives are tested with capillary dispensing system for microassembly, andvolume of droplets less than 10 nl with good repeatability can be acquired. 1-part UV curingadhesive hardens rapidly and is suitable for bonding of transparent microparts. Light-activatedadhesive starts the curing process in an adjustable short period of time after the radiation ofvisible light, and thus suits bonding of non-transparent microparts. A method is proposed forbonding the guides of a miniature linear motor being developed by collaborate research center 516(SFB516) in Germany. With the method high assembly accuracy in the vertical direction can beguaranteed. By making small grooves on the stator for containing adhesive, the deterioration of theaccuracy due to the thickness of adhesive layer can be avoided. The criteria on deciding the size ofthe groove are given and analyzed. Vision based inspection method is introduced for automaticassembly of the guides. The dispensing volume and position of dispensed adhesive droplets can bedetected for ensuring the bonding quality.
基金financially supported by the National Key R&D Program of China(2017YFA0207201)the National Natural Science Foundation of China(51872139,21905133,51902158)+4 种基金the NSF of Jiangsu Province(BK20170045)the Recruitment Program of Global Experts(1211019)the “Six Talent Peak”Project of Jiangsu Province(XCL-043)the Fundamental Research Funds for the Central Universities and the Recruitment Program of Global Experts(1211019,31020200QD041)the Jiangsu Province Postdoctoral Science Foundation(2019K191)。
文摘Carbon-based microassemblies(CMs) have attracted significant attention in numerous applications due to their unique hierarchical structures and delicate building blocks,especially when hollow carbon spheres(HCSs) are reasonably introduced into the construction.Herein,a new design for novel HCSscombined CMs is proposed.Remarkably,the HCSs are linear carbon bubbles linked one-by-one, arranging into necklaces decorating on the graphene microfolds.Detailed thermal analysis confirm that high temperatures straighten the linked carbon bubbles into bamboo-like carbon nanofibers,evidently due to the attenuation of doping degree.Benefiting from the abundant active sites of carbon bubbles,the obtained CMs exhibit satisfactory electrocatalytic activity for oxygen reduction reactions.This work establishes a bridge to precisely control the synthesis of carbon-based hierarchical architectures.