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Flexible micro-assembly system equipped with an automated tool changer

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Abstract

This paper deals with the design, fabrication and experimental validation of several modules of a micro-assembly system. On one hand, a microgripper is integrated in a four degrees of freedom system. On the other hand, a tool changer is designed. It enables to exchange automatically the tip part of the microgripper and then dedicated tools can be used to achieve specific tasks. The principle of this tool changer relies on a thermal glue whose phase (liquid or solid) is controlled by heat generators. This system is based on the modeling of thermal phenomena in the tools during a cycle of tool exchange. A compliant system is added to limit micromanipulation forces applied during assembly tasks like insertions. Finally, the successful assembly of several microcomponents is detailed, highlighting the capabilities and benefits of the whole system.

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Acknowledgement

This work has partially been supported by the European Project ROBOSEM (G1RD-CT2002-00675).

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Authors and Affiliations

  1. AS2M (Department of Automatic Control and Micro-Mechatronic Systems), FEMTO-ST Institute, CNRS 6174 UFC ENSMM UTBM, 24 rue Alain Savary, 25000, Besançon, France

    Cédric Clévy, Arnaud Hubert & Nicolas Chaillet

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  1. Cédric Clévy
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  2. Arnaud Hubert
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  3. Nicolas Chaillet
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Correspondence to Cédric Clévy.

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Clévy, C., Hubert, A. & Chaillet, N. Flexible micro-assembly system equipped with an automated tool changer. J. Micro-Nano Mech. 4, 59–72 (2008). https://doi.org/10.1007/s12213-008-0012-z

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  • DOI: https://doi.org/10.1007/s12213-008-0012-z

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