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2006
Conference Paper
Titel
Multi-axes micro gripper for the handling and alignment of flexible micro parts
Alternative
Mehrachsiger Mikrogreifer für die Handhabung und Ausrichtung flexibler Mikrobauteile
Abstract
Optical micro parts, such as glass fibres, require handling and alignment accuracies down to the sub micrometer range. Addressing this task, one aim of the Fraunhofer IPT is the development of new concepts of active gripper systems. In this context a highly integrated, adaptive, rugged and economical gripper system particularly for accurate handling and alignment of flexible micro parts down to the sub-micron level has been developed. This gripper system can be used on conventional robot systems for carrying out microassembly operations. The robot system does the pre-positioning, the tolerances necessary for the micro-assembly are subsequently realized directly at the tip of the gripper with the gripper integrated multi-axes system. Positioning systems that achieve the required positioning increments in the sub micron range are already existent. Such systems are normally highly sensitive against mechanical impact and extremely cost intensive. In this paper the development of a highly robust gripper-integrable axes system and its integration in a novel gripper design with a multi-axis adjustment system is presented. The stage is based on the principle of a hydrostatic transmission, which has not been used in micro-assembly before. The stage was accelerated up to 90 m/s(exp2) in experiments, without being damaged. By integrating four of these highly precise and robust stages into a gripper, it is now possible to finely align the micro-components with four degrees of freedom.