The first part of the paper describes different concepts for micro production. The potential of miniaturised size adapted robots is pointed out based on their flexibility. Flexibility thereby is discussed in a detailed way that leads to two different ways of robot integration. The second part of the paper deals with the desktop factory concept. Beginning with a short state of the art for deskto...

This paper describes the development of a miniature assembly cell for micro-electromechanical systems (MEMS). Potential applications of the developed assembly cell are assembly of miniature optical systems, integration of optoelectronics, such as laser diodes with CMOS, and epitaxial lift-off (ELO) of thin films used in optoelectronic devices. The cell utilizes a transparent electrostatic gripp...

This study addresses the design and testing of a novel soft robotic gripper actuated by an electromagnet with which to handle of unpackaged delicate fruits in the food industry. Traditional rigid mechanical grippers are not applicable to manipulate delicate food products because their gripping action can easily bruise or damage fragile food products during handling due to hard contacts. In addi...

Adhesive forces become predominant in the micro world comparing to the gravity effect implying the development of new micro manipulation strategies. This paper presents the design and conception of a gripper that use the inertial principle for the release (applying a high acceleration, in the order of 10’000g) and the adhesion for catching a micro part of 50μm with the goal of precisely control...

Limp materials like textiles, leather, porous tissues, meat and fish fillets do represent challenges in automation. A universal gripping principle that is usable for all these materials is not known. This paper describes a new gripping principle based on a novel Coanda effect ejector meeting these challenges. This ejector allows the construction of a slim, plate-shaped vacuum gripper with multi...

This paper represents an analytical approach for solving forward kinematics problem of a serial robot manipulator with six degrees of freedom and a specific combination of joints and links to formulate the position of the gripper by a given set of joint angles. In addition, a direct geometrical solution for the robot’s inverse kinematics problem will be defined in order to calculate the robot’s...

We propose a new reconngurable gripper that consists of two parallel plates whose distance can be adjusted by a computer-controlled actuator. The bottom plate is a bare plane, and the top plate carries a rectangular grid of actuated pins that can translate in discrete increments under computer control. We propose to use this gripper to immobilize objects through frictionless contacts with three...

COMPLAN is a conformant probabilistic planner that finds a plan with maximum probability of success for a given horizon. The core of the planner is a a depth-first branch-andbound search in the plan space. For each potential search node, an upper bound is computed on the success probability of the best plans under the node, and the node is pruned if this upper bound is not greater than the succ...

This paper presented the designing and building of a robotic gripper with five degrees of freedom capable to perform cylindrical grasp and grasp by terminal opposition of the human hand. The gripper has a pressure sensorial system, where each link has a sensor to determine if exist contact with the object in the work space of the prototype. The final position information of the motors is using ...

This paper discusses the design of capturing system with an extremely high response. The key for achieving a quick response is the Arm/Gripper Coupling Mechanism (AGCM), where the potential energy initially accumulated in the arm is transferred to the kinetic energy of the arm and, continuously, to the kinetic energy for closing the gripper at the capturing point without any time lag. The exper...