Automated Robotic Assembly of 3D Mesostructure via Guided Mechanical Buckling

Abstract

We present an automated assembly approach to forming 3D mesostructures using guided mechanical buckling of patterned thin films. This task requires accurate positioning of mesostructures over large distances. We use an industrial robot with a high degree of repeatability and large reach. We utilize image-guided localization and positioning to enable accurate pick and place of mesoscale thin films, dispensing of nanoliter adhesive in targeted regions, and automatic 2D to 3D shape transformation via mechanical buckling. We achieved the positioning accuracy of 80 µm, as demonstrated in the example of automated mechanical assembly of 3D mesostructures. The positioning accuracy could be further improved by enhancing the positioning accuracy of the robot, increasing the image resolution and optimizing the assembly process. The use of industrial robots with image-guided localization and positioning provides potential opportunities for high-accuracy, low-cost, and complex robotic manipulation at meso- and microscale.