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Micro-assembly planning with van der Waals force

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image of Journal of Micromechatronics

This paper investigates a new aspect of fine motion planning for the micro-domain. As parts approach 1-10 μm or less in outside dimensions, interactive forces such as van der Waals and electrostatic forces become major factors that greatly change the assembly sequence and path plans. It has been experimentally shown [1, 2] that assembly plans in the micro-domain are not reversible, motions required to pick up a part are not the reverse of motions required to release a part. This paper develops the mathematics required to determine the goal regions for pick up, holding, and release of a micro-sphere being handled by a rectangular tool.


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