Planning System of a Microassembly Task in a Flexible Microrobot Cell.

Airat Faizullin, Jorg Seyfried, Sergej Fatikow: Planning System of a Microassembly Task in a Flexible Microrobot Cell CSIT 2000 : 16-23


A wide range of microsystem components, e.g. various microsensors and microactuators, can today be produced using microfabrication techniques. At the current stage, microsystem technology (MST) demands for suitable assembly facilities which can produce hybrid microsystems consisting of several separate components. After introducing a flexible microrobot cell that has been developed at the University of Karlsruhe, we present the assembly planning system of this cell, which is tailored to the specific needs of microassembly. Important differences between conventional (macro-) assembly and microassembly are discussed. These must to be taken into account already at the assembly planning level to be able to perform an efficient microassembly. A formal description of a planning procedure is presented and planning algorithms are described. The planning system has been tested by an example of an automatic assembly planning of the worldwide smallest commercially available micromotor made by Faulhaber, German; the test results achieved are demonstrated.

Copyright © 2000 by the Institute for Contemporary Education "JurInfoR-MSU". Permission to copy without fee all or part of this material is granted provided that the copies are not made or distributed for direct commercial advantage, the CSIT copyright notice and the title of the publication and its date appear, and notice is given that copying is by permission of the Institute for Contemporary Education JMSUICE. To copy otherwise, or to republish, requires a fee and/or special permission from the JMSUICE.

Printed Edition

Heinz Schweppe and Yuri S. Kabalnov (Eds.): CSIT'2000, Proceedings of 2nd International Workshop on Computer Science and Information Technologies, September 18-23, 2000, Ufa, Russia. USATU Publishers & JurInfoR-MSU Publishing 2000, ISBN 5-86911-312-1

Electronic Edition