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Author:Jääskeläinen, Mirva
Title:Experimental study on droplet self-alignment assisted robotic microhandling
Kokeellinen tutkimus robotiikkaa ja pisaran itseasennoitumista hyödyntävästä mikrokokoonpanosta
Publication type:Master's thesis
Publication year:2009
Pages:85      Language:   eng
Department/School:Elektroniikan, tietoliikenteen ja automaation tiedekunta
Main subject:Systeemitekniikka   (AS-74)
Supervisor:Zhou, Quan
Instructor:Zhou, Quan
Electronic version URL: http://urn.fi/URN:NBN:fi:aalto-201203071356
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark TKK  6661   | Archive
Keywords:microassembly
hybrid handling
droplet self-alignment
mikrokokoonpano
hybridimenetelmä
itseorganisoituminen
Abstract (eng): The main objective of this thesis is to experimentally study the effect of different process parameters on the results of a hybrid micro assembly method previously developed at TKK.
The hybrid method is a combination of robotic micro handling and droplet self-alignment.

The survey part of the thesis has two sections.
The first part gives an overview of the micro world and the state-of-the-art of micro assembly methods including both robotic and self-assembly methods.
The second part concentrates on capillary force and its applications in micro handling.

The experimental method, the test set-up and key test parameters are discussed in the second part of the thesis.
The key parameters include biases (the initial error in the part location before self-alignment) in three axes, the amount of liquid for self-alignment and the size of the parts.
Moreover, the test procedure is described in details.

Several sets of tests were conducted and the results are analyzed carefully in the third, experimental part of the thesis.
Especially the success rates and areas of success as a function of different parameters are studied and compared.
The accuracy of the final assembly is analyzed by a scanning electron microscope.

The results show that the hybrid micro assembly method is reliable for assembling micro parts.
The study on the effects of the process parameters prove that accuracy requirements of the handling robot are very low while the accuracy obtained with the method is in the range of 1-2 µm, comparable with what has been achieved by self-assembly.
Abstract (fin): Tämän diplomityön päätavoite on tutkia kokeellisesti eri prosessiparametrien vaikutusta Teknillisessä korkeakoulussa kehitetyn hybridimenetelmän tuloksiin mikrokokoonpanossa.
Menetelmässä yhdistetään robottimikrotarttujan käyttö ja mikrokappaleiden pisara-avusteinen itseorganisoituminen kapillaarivoimien avulla.

Työn selvitysosuudessa on kaksi osiota.
Ensimmäisessä osiossa tutustutaan mikrokokoluokan erityispiirteisiin ja mikrokokoonpanomenetelmiin sekä robottiavusteisten ja itseorganisoituvuutta käyttävien menetelmien kautta.
Toisessa osiossa keskitytään kapillaarivoimaan ja sen sovelluksiin mikrokappaleiden käsittelyssä.

Kokeellinen menetelmä ja koelaitteisto esitellään työn toisessa osuudessa.
Myös parametrit, joita ovat vapautuspaikan ero lopulliseen paikkaan, nesteen määrä ja palan koko, esitellään tarkemmin.
Testien kulun yksityskohdat käsitellään.

Kokeellisessa osassa suoritettujen testien tulokset esitetään.
Kokoonpanon onnistumistodennäköisyyttä tarkastellaan ja vertaillaan eri prosessiparametrien funktiona.
Menetelmän tarkkuutta arvioidaan pyyhkäisyelektronimikroskooppikuvien avulla.

Tulokset osoittavat, että tutkitulla robotiikaa ja pisaran itseasennoitumista hyödyntävällä menetelmällä voidaan luotettavasti kokoonpanna mikrokappaleita.
Saavutettu tarkkuus (1-2 µm) on vertailukelpoinen itseorganisoitumista käyttävien menetelmien kanssa.
ED:2010-01-22
INSSI record number: 38797
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