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This paper reports an in-depth study of a hybrid microassembly technique that combines a robotic micromanipulator and a water droplet self-alignment, which greatly improves the performance of robotic microassembly. The method is experimentally studied on a custom-made microrobotic test platform adapted for the experiments. Four important measures of the microassembly technique are investigated--yield,...
Hybrid microhandling is a new approach in microhandling that combines the benefits of two major branches of microhandling: robotic micromanipulation and self-assembly under a unified framework. This paper presents an in depth experimental study of a hybrid microhandling technique that combines robotic micromanipulator and droplet self-alignment. The experimental study is carried out on a home-made...
We present an adhesive mechanical fastener design used to construct three-dimensional micro devices. The fastener design includes adhesive bonding and self-alignment mechanisms. A micro probe that bonded to a robotic micromanipulator is employed to pick up and accurately deposit adhesive to a target location. Self-alignment mechanisms are introduced to increase the positioning accuracy. A curing light...
The robotic system is developed to improve the effect of microsurgery for keratoplasty. The autonomous suturing should be qualified for the operational requirements of microsurgical keratoplasty. Poorly modeled mechanism of robotic micromanipulator and slight movements of surgical objective point are hindrance for precise position and orientation of end-needle. Visual servo control is available to...
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