3D sensor for the control of a microassembly robot

Rainer Tutsch; Marcus Petz; Michael Berndt; Jurgen Hesselbach; Gero Pokar; Kerstin Heuer

doi:10.1117/12.515065

30 September 2003 3D sensor for the control of a microassembly robot

Rainer Tutsch, Marcus Petz, Michael Berndt, Jurgen Hesselbach, Gero Pokar, Kerstin Heuer

Proceedings Volume 5264, Optomechatronic Systems IV; (2003) https://doi.org/10.1117/12.515065
Event: Photonics Technologies for Robotics, Automation, and Manufacturing, 2003, Providence, RI, United States

Abstract

At the Technical University Braunschweig a robot for the assembly of micro structures with an assembly positioning uncertainty below 1 μm is under development. In order to reach the demanded accuracy and robustness, an optical sensor is used. First a 2D-Sensor was tested. To reach the required cycle time a substantial reduction of the response time of this 2D-sensor was necessary. By the application of optimised 2D-algorithms the image processing takes place in video real time now. The extensive software update required an examination of the repeatability results of the 2D-sensor (standard deviation of 0.1 μm in both axes). An overview of the reproducibility and the dynamic cooperation with the parallel robot are presented. A prototype of a 3D-sensor for the robot was built. The reached reproducibility is presented. The 3D-sensor integrated into the robot allows the execution of assembly tasks with a positioning uncertainty better than 1 μm. For the assembly tasks the accurate position of the structures must be determined, which is marked by a defined pattern of circular marks. By photogrammetric measurement of the marks and a pattern recognition the spatial position of the structure is determined. The measurement volume is 7,5 x 11 x 6 mm³. To show the efficiency of the 3D-sensor a first test of its cooperation with the robot is described.

Citation Download Citation

Rainer Tutsch, Marcus Petz, Michael Berndt, Jurgen Hesselbach, Gero Pokar, and Kerstin Heuer "3D sensor for the control of a microassembly robot", Proc. SPIE 5264, Optomechatronic Systems IV, (30 September 2003); https://doi.org/10.1117/12.515065

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