Self-calibration of micro-components based on manipulator guidance

Abstract

Abstract Automatic alignment of micro-component position and posture is an important part of micro-assembly. A self-calibration method of micro-components based on a droplet manipulator is proposed. The shape of the operating surface of the droplet manipulator is changed according to the shape of the micro-component and a droplet of the corresponding shape is formed; the position and posture of the operating surface of the droplet manipulator is used as a guide to drive the rapid alignment through the recovery force of the liquid bridge to achieve self-calibration of the micro-component. The self-calibration principle and process are analyzed using rectangular and triangular micro-components as examples, and the effectiveness of the proposed method is demonstrated experimentally. The research and experimental results show that the self-calibration can be achieved by changing the shape parameters of the operating surface of manipulator and controlling the corresponding droplet form; the self-calibration of position and posture of micro-components with different shapes and sizes can be achieved by matching the operating surface shape of the droplet manipulator and the micro-components; the automatic calibration success rate is 100% under the condition that the contact surface of the micro-component is completely wetted.