
UniBS - Università degli Studi di Brescia Dipartimento di Ingegneria Meccanica e Industriale Prof. Giovanni Legnani giovanni.legnani@ing.unibs.it	CNR - Consiglio Nazionale delle Ricerche ITIA - Istituto di Tecnologie Industriali e Automazione Ing. Irene Fassi irene.fassi@itia.cnr.it	UniBG - Università degli Studi di Bergamo Dipartimento di Ingegneria Industriale Prof. Paolo Righettini paolo.righettini@unibg.it	UnivPM - Università Politecnica delle Marche Dip. di Ingegneria Industriale e Scienze Matematiche Prof. Massimo Callegari m.callegari@univpm.it

MM&A

Micro Manipulation and Assembly

prin 2009 – 17 October 2011 – 16 October 2013

Aim of the research activity is to study the issues related to the manipulation and assembly of extremely small components. The purpose is to contribute to make possible the realization of general automatic systems of production which are not now available for objects of this size.

Participants in the project:
UniBS - project coordinator (Calibration and coordination of a cell for micromanipulation and assembly) Giovanni Legnani Alberto Borboni Andrea Gabrielli ITIA-CNR (Development of micro-handling and -gripping devices) Irene Fassi Gianmauro Fontana Claudia Pagano Serena Ruggeri	UniBG (Micro-Manipulators Synthesis methodologies and Actuators - SAM2) Paolo Righettini Bruno Zappa Andrea Ginammi UnivPM (Design of an orientation platform for micro-assembly applications) Massimo Callegari Giacomo Palmieri Matteo Palpacelli Luca Carbonari

Documents:

Deliverables:

Step 1
D1.1/D1.2 Specifications of the workcell; Specifications of the expected performances of the prototypes

Step 2
D2.1 Preliminary design of the micro-manipulator
D2.2 Preliminary design of the orientation platform
D2.3 Preliminary design of the micro-grippers
D2.4 Preliminary design of the vision and supervision systems
SCOM Preliminary design of the communication system
Update of the document D1.1/D1.2 including the specifications for each unit, in order to guarantee the interoperability of the different devices

Step 3
D3.2 Technical report on realization and validation of the microorientation platform

Video:

Manipulation 1 ITIA-CNR
Manipulation 2 ITIA-CNR
Orientation platform - CAD UnivPM
Orientation platform - Prototype UnivPM
Micro-manipulator top UniBG
Micro-manipulator UniBG
Final testing: Orientation platform movements
Final testing: Camera calibration on the orientation platform
Final testing: Pick & Place of 1 mm spheres
Final testing: Pick & Place of 500 micron spheres
Final testing: Pick & Place of optical fibers

Images:

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Publications:

G. Fontana, S. Ruggeri, I. Fassi, G. Legnani. “A mini work-cell for handling and assembling microcomponents”. Assembly Automation, 34-1, Emerald, 2014, ISSN 0144-5154. (under publication) [link]

G. Legnani, I. Fassi, S. Ruggeri, G. Fontana, A. Borboni, A. Gabrielli, C. Pagano, P. Righettini, B. Zappa, A. Ginammi, M. Callegari, G. Palmieri, M. Palpacelli, L. Carbonari. “Design of a miniaturized work-cell for micro-manipulation”. XXI AIMETA Congress, Turin, 17-20 September 2013, ISBN 978-88-8239-183-6. [pdf] [ppt]

P. Righettini, B.F. Zappa, A. Gotti, D. Donadini, R. Strada. “Design and development of a 4DOFs micro-manipulator”. XXI AIMETA Congress, Turin, 17-20 September 2013, ISBN 978-88-8239-183-6. [pdf] [ppt]

G. Legnani, A. Gabrielli, A. Ousdad, I. Fassi, S. Ruggeri, G. Fontana “A laser Calibration Device for Mini Robots”, International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2015), 2-5 August 2015, Boston, USA. [pdf]

G. Fontana, S. Ruggeri, I. Fassi, G. Legnani. “Flexible vision-based control for micro-factories”. 7th International Conference on Micro- and Nanosystems (IDETC/MNS 2013), 4-7 August 2013, Portland, OR, USA. [link]

G. Legnani, A. Borboni, A. Gabrielli, I. Fassi, S. Ruggeri, G. Fontana, C. Pagano, P. Righettini, B. Zappa, A. Ginammi, M. Callegari, G. Palmieri, M. Palpacelli, L. Carbonari. “Micro Manipulation and Assembly”. 2° Congresso Nazionale del Coordinamento della Meccanica Italiana, Ancona, 25-26 June 2012, ISBN 9788896378601. [pdf]

S. Ruggeri, G. Fontana, I. Fassi, C. Pagano, G. Legnani, A. Gabrielli. “Handling and Manipulation of Microcomponents: Work-cell Design and GraspingTests”. 2° Congresso Nazionale del Coordinamento della Meccanica Italiana, Ancona, 25-26 June 2012, ISBN 9788896378601. [pdf]

G. Fontana, S. Ruggeri, I. Fassi, G. Legnani. ”Calibration strategies for a micromanipulation work-cell”. 8th International Workshop on MicroFactories (IWMF2012), 18-20 June 2012, Tampere, Finland. [link]

S. Ruggeri, G. Fontana, C. Pagano, I. Fassi, G. Legnani. “Handling and manipulation of Microcomponents: Work-Cell Design and Preliminary Experiments”. 6th International Precision Assembly Seminar (IPAS 2012), Chamonix, France, 12-15 February 2012, IFIP Advances in Information and Communication Technology, Vol. 371, pp. 65-72, ISBN 978-3-642-28162-4. [link]

M. Callegari, L. Carbonari, G. Palmieri, M.C. Palpacelli. “Functional Design of a Mini Pointing Device for a Robotic Assembly Cell”. International Journal of Advanced Robotic Systems (under review). [pdf]