Automating microassembly with ortho-tweezers and force sensing

We describe a microassembly system based on two one degree of freedom probes ("ortho-tweezers") and a three degree of freedom translating stage, controlled by a Java application with Python scripting support. We describe how basic manipulation primitives can be combined in a Python script to perform automated, force-feedback controlled assembly operations. We demonstrate a fully automated pick and place task using 200/spl times/200/spl times/100 micron blocks. Using a temporary handling block, the system can manipulate long, thin, fragile parts, such as semiconductor strain gauges.