Caging Micromanipulation for Automated Microassembly

摘要：

This paper introduces the concept of caging micromanipulation for use in automated open loop microassembly tasks. Utilizing a caging transport motion primitive along with rotational and translation primitives, we demonstrate full control of the state of the part. Additionally, a framework for planar microassembly task planning is provided based on the A* algorithm. It is used to determine the optimal assembly sequences and part starting locations in the workspace. We also describe a test-bed suitable for planar micro, meso-scale, and nano-scale manipulation and assembly tasks and present simulation and experimental results of this work.

作者: David J. Cappelleri Michael Fatovic Utsav Shah

作者单位: Multi-Scale Robotics and Automation Lab,Department of Mechanical Engineering,Stevens Institute of Technology,1 Castle Point on Hudson,Hoboken,NJ USA 07030

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3145-3150

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）