Publications

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One of the challenges facing microrobotic manufacturing is the ability to sense interactions for force-guided assembly of small devices. There is a need for a force transducer with the ability to sense forces in multiple degrees-of-freedom in the mN range with resolution on the order of 10 μN for microassembly applications. This paper presents theoretical studies for developing a surface micromachined piezoresistive force transducer that can measure normal force in the z-direction and moments about the x and y-axes. The devices proposed here are based on a compliant platform design with integrated piezoresistive sensing elements fabricated in a modified SUMMiT process. Various configurations and sensor element layouts are explored to determine the relationship of the applied forces and moments experienced during assembly and the corresponding strain. Structural and finite element analysis is used to determine the elastic response of the device and establish the best locations and orientations of the sensing elements to effectively utilize the piezoresistive effect of the polysilicon sensors. Initial experiments show the polysilicon piezoresistors to have a gauge factor of approximately 25. The expected sensitivities for these devices are presented. Copyright © 2005 by ASME.

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There is a growing need for multi-axis force torque (F/T) sensors to aid in the assembly of micro-scale devices. Many current generation robotic microassembly systems lack the force-feedback needed to facilitate automating common assembly tasks, such as peg-in-hole insertions. Currently, most microassembly operations use vision systems to align components being assembled. However, it is difficult to view high aspect ratio component assemblies under high magnification due to the resulting limited depth-of-field. In addition, this difficulty is compounded as assembly tolerances approach dimensions resolvable with optics or if the mating parts are delicate. This paper describes the development of a high sensitivity F/T sensor. Optimal design theory was applied to determine the configuration that would result in the most sensitive and accurate sensor: Calibration experiments demonstrated that the sensor can resolve down to 200μN and possibly less. Copyright © 2005 by ASME.

Sandia National Laboratories is exploring assembling micro, meso, and miniature scale parts into a variety of tiny devices. These devices are comprised of parts ranging from tens of microns to a few millimeters in size. In support of this activity, a rapid prototyping assembly workstation that enables an operator to assemble three-dimensional devices with a minimum of fixturing has been developed. This workstation consists of precision robotics, stages, cameras, and sensors integrated in a way that facilitates human interaction. Although many of the workstation components are commercially available, no inexpensive and durable grippers of suitably large range of motion could be found. This paper describes the design and testing of a novel micro gripper based on precision tweezers and actuated with a micro servo that has proven extremely useful for the operator directed assembly of micro scale devices. Copyright © 2005 by ASME.

This report highlights the findings of an extensive review of the literature in the area of nanorobotics. The main goal of this midyear LDRD effort is to survey and identify accomplishments and advancements that have been made in this relatively new and emerging field. As a result, it may be determined what routes in the area of nanorobotics are scientifically plausible and technically useful so that the Intelligent Systems and Robotics Center can position itself to play a role in the future development of nanotechnology.

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The Zone 4 Stage Right Shielded Lift Trucks (SLT's) will likely need refurbishment or replacement within the next two to five years, due to wear. This document discusses the options to provide a long term and reliable means of satisfying Zone 4 material movement and inventory requirements.