WP4 - Platforms

The objective is to integrate the components developed in WP1-WP3 into a microassembly device and a testing device. Both devices will additionally be combined into one reconfigurable system for microassembly and quality inspection. The capabilities of these devices will be demonstrated using a sample application.

Micro-assembly platform: Main Achievements

Modular design of the robotic platform was integrated at the beginning of the project. Specific mechanical and electrical interface were developed to enable cameras and robotics component exchange. A full software framework was designed to integrate these exchanges inside the robotic driving software and the computer vision software. Exchange of cameras, cameras objectives, high stroke/high force gripper and robotics components was achieved to validate this principle. As an example, the same software framework was used on a cartesian robotic device (4 DOF) and an hexapod (6 DOF) without any change noticed by the assembly device operator.

Some dummy manipulation and assembly task have been done to validate the robotic demonstrator. Glue dispenser and laser reticulation device were tested to increase the capabilities of the assembly. In the remaining months, parts of the benchmark should be available for assembly and primary quality test on the assembly.

Assembly of microspheres on the robotic platform

Test platform: Main Achievements

After having defined the specification of the test platform, Alemnis started the design and development for the demonstrator. In September 2014, the test platform was assembled and the 3 axis loadcell from CSEM was integrated. Preliminary tests show the good performances of the instrument. During the next period, the Percipio micro-gripper will be integrated. Alemnis is currently upgrading its software to integrate the loadcell. New metrology functionalities based on a newly developed embarked microscope are being implemented too. Alemnis is also working on the development and integration of an ad-hoc microgripper for the testing of various samples.

The test platform was presented at MICRONORA in Besançon (23 – 26 September 2014)



Preliminary specifications:


Force measurement:

  3-axis (x-y-z)

  range +/-500 mN

  resolution 25 mN

  stiffness 150 mN/mm

  error < 0.1% FS

  cross coupling < 2.5%

  eigen frequency 430 Hz


Positioning :

  3 axis (x-y-z)

  range 25 mm

  resolution 1nm

  high stability for creep and fatigue tests

  Vacuum compatible


Alemnis test platform equipped with the 3 axis force sensor developed in cooperation with CSEM. The platform will further be equipped with micro-grippers and a miniature microscope for additional metrology functionalities.