Advanced technologies for micro assembly

This paper discusses new technologies suited for applications in micro assembly. The discourse includes a new class of robots, based on closed kinematic chains and their advantages for applications in high precision applications with a focus on micro assembly. The discussion continues on design considerations for parallel robots focused on design methods concerning the kinematic aspects as well as for the design of the robot components. The paper presents two concepts for parallel robots with three and six degrees of freedom, covering the transformation algorithms including the kinematic characteristics of these robots. Finally the paper introduces micro gripper principles and specific design suggestions.