Micro-assembly planning with van der Waals force

Investigates a new aspect of fine motion planning for the micro-domain. As parts approach 1-10 /spl mu/m or less in outside dimensions, interactive forces such as van der Waals and electrostatic forces become major factors that greatly change the assembly sequence and path plans. It has been experimentally shown (Miyazaki and Sato, 1996, and Koyano and Sato, 1996) that assembly plans in the micro-domain are not reversible, motions required to pick up a part are not the reverse of motions required to release a part. The paper develops the mathematics required to determine the goal regions for pick up, holding, and release of a micro-sphere being handled by a rectangular tool.