Desktop Rapid Prototyping Millirobots Movies
Automatic Attachment of Handling Block
to Strain Gage (Movie)
This movie has been sped up 10 times and for the first 14 seconds, the
user is specifying the location of the block, wax, and two points on
the strain gage. Then a totally automated procedure begins where
the block is picked up, dipped in wax, and attached to the strain
gage. Then the block and strain gage combination is picked up and
moved around.
Automatic Attachment of Handling Block
to Flexure
(.mpg Movie 19MB)
Again, like the movie above, this movie has been sped up 10 times and
the first 46 seconds involve the user specifying the location of the
block, wax, and two points on the flexure. Then the totally
automated procedure of picking up the block, dipping it in wax,
attaching it to the flexure, and then moving the combination begins.
Movie of automated assembly sequence
(MPEG 1.48 MB).
(MPEG 16 MB).
This operation is
completely open-loop, resulting in accumulated alignment errors.
Eiji Shimada Dexterous Manipulation Primitives (viewpoint)
1.Pick&Place(
Top,
Side)
2.Part rolling(
Top,
Side)
3.Pivot grasp(
Top,
Side)
4.Regrasp(
Top,
Side)
Movie: assemble clock script
Here is a
MPEG movie of the assemble clock script.
(The movie is shown at 10x speed.) There are 12 blocks on a pre-arranged
pallet. The script locates each block, grasps it, and places it around
the circle of a "clock face." Note that it rotates each block according
to its position on on the clock face. Note also that before grasping the
block for a position, it first tests the position to determine the exact
Z level of the surface. (Movie by Jeff Thompson.)
More movies can be found on the following pages
Dexterous
Micromanipulation and Microassembly
Eiji
Shimada's Microassembly page
Manipulation
of Microparts Using Force Controlled Pushing
Microrobotics
and Millirobotics Research