A Workstation for microassembly

In this paper, an open-architecture, reconfigurable microassembly workstation for efficient and reliable assembly of micromachined parts is presented. The workstation is designed to be used as a research tool for investigation of the problems in microassembly. The development of such a workstation includes the design of: (i) a manipulation system consisting of motion stages providing necessary travel range and precision for the realization of assembly tasks, (ii) a vision system to visualize the microworld and the determination of the position and orientation of micro components to be assembled, (iii) a robust control system and necessary mounts for the end effectors in such a way that according to the task to be realized, the manipulation tools can be easily changed and the system will be ready for the predefined task. In addition tele-operated and semi-automated assembly concepts are implemented. The design is verified by implementing the range of the tasks in micro-parts manipulation. The versatility of the workstation is demonstrated and high accuracy of positioning is show