Active Surfaces

Research : Micromanufacturing : Robotic Assembly: Active Surfaces

Active Surfaces

Active surface device using pneumatic force field with piezoelectric actuation.

Overview:

Parallel manipulation of multiple micro-parts to improve throughput of microassembly by providing gripping, sorting and aligning functions.

Approach:

Force field created by pneumatic pressure source through micron size nozzle arrays, or through ultrasonic vibration.
Individually controlled nozzle pressure for translation, rotation and flipping of parts.
Distributed manipulation algorithm to scale up for massive parallel manipulation.

Active Surface Device

Active surface device using pneumatic force field.

Accomplishments:

Prototype active surface device using pneumatic force field to manipulate parts as small as 1mm².
Combined piezoelectric actuation with pneumatic force field. Motion resolution is micron range.
Simultaneous translation, rotation, and flipping of multiple parts.

Publications:

[1]	J. Sin and H.E. Stephanou, “A Parallel Micromanipulation Method for Microassembly,” SPIE Conference on Micromachining and Microfabrication, 2001, pp.158-164.
[2]	J. Sin, and H.E. Stephanou, “Semi-Distributed Manipulation on a Friction Force Field,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001, pp.220-225.
[3]	J. Sin, T. Winther, and H.E. Stephanou, “Micromanipulation Using a Friction Force Field,” Proceedings of IEEE International Conference on Robotics and Automation, 2001, pp.115-120.
[4]	D.O. Popa, H. E. Stephanou, “Micro and Meso Scale Robotic Assembly”, in SME Journal of Manufacturing Processes, vol. 6 No. 1, 2004, 52-71.
[5]	Hanson D., Bergs R., Tadesse Y., White V., Priya S., Enhancement of EAP actuated facial expressions by designed chamber geometry in elastomers, Proc. SPIE Vol.6168, p. 49-57, Smart Structures and Materials 2006.
[6]	Popa, D.O.; Singh, D.K.;” Creating realistic force sensations in a virtual environment:experimental system, fundamental issues and results,” Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on Volume 1, 16-20 May 1998 Page(s):59 - 64 vol.1.
[7]	Singh, S.K.; Pieper, S.D.; Popa, D.O.; Guinness, J.; “Control and coordination of head, eyes and facial expressions of virtual actors in virtual environments,” Robot and Human Communication, 1993. Proceedings., 2nd IEEE International Workshop on 3-5 Nov. 1993 Page(s):335 – 339.