SW-4-1-4: Manipulation and assembly at small scales: Investigations on the Peg-In-the-Hole Task and Micro-scale Caging.
Prof. David Cappelleri, Stevens Institute of Technology, USA
Micro and meso-scale systems technology is poised to be an extremely strong economic driver in this century. Market estimations predict large quantities of products involving this technology within the next decade and more specifically, meso and micro-scale assembly shows enormous potential in a vast range of industrial applications. In this talk, I will describe a test-bed for planar micro and meso-scale manipulation tasks and a framework for planning based on quasi-static models of mechanical systems with intermittent frictional contacts. I will show how planar peg-in-the-hole assembly tasks can be designed using randomized motion planning techniques with quasi-static manipulation models and a systematic approach to incorporating uncertainty into planning such tasks with frictional contacts. I will then introduces the concept of caging micromanipulation, inspired by its macro-scale counterpart, for use in automated open loop microassembly tasks. Guidelines to determine configurations for up to four coordinated micromanipulators to form caging grasps for transporting micro-scale planar, polygonal parts will be presented. Finally, I will show how the micro-caging transport primitive can be combined with rotational and one-sided-pushing motion primitives to carry out a representative microassembly task.
David J. Cappelleri is an Assistant Professor in the Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ USA. His research interests include multi-scale robotic manipulation and assembly tasks, mobile micro/nano robotics, bio-nano robotics, mechatronics, robotic system integration, medical robotics and devices, MEMS device design and fabrication, micro/nano aerial vehicles, and automation for the life sciences. Prof. Cappelleri is a recipient of the Harvey N. Davis Distinguished Assistant Professor Teaching Award in 2010 and the Association for Lab Automation (ALA) Young Scientist Award for his paper at IEEE CASE 2009. He is an elected member of the IEEE Robotics and Automation Society Technical Committee on Micro/Nano Robotics and Automation, American Society of Mechanical Engineers (ASME) Design Engineering Division Mechanisms & Robotics Committee, and the ASME Design Engineering Division Micro/Nano-Systems Technical Committee. Dr. Cappelleri received the B.S. and M.S. degrees in Mechanical Engineering from Villanova University, and The Pennsylvania State University, and a Ph.D. from the University of Pennsylvania in Mechanical Engineering and Applied Mechanics.