Annika Raatz

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— In this paper the feed-forward control structure is introduced for a manipulator joint driven by a set of symmetrical antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces and produces the pressure signal for the muscles' supplying valves based upon the manipulator kinematic and the(More)
Nowadays, the production of 3D MEMS and MOEMS is carried out by using hybrid integration of single components, for which batch production is normally preferred. In this field, adhesive technology is one of the major joining techniques. At the Collaboration Research Center 516, a batch process based on a joining technique which uses hot melt adhesives was(More)
The paper presents a size-adapted assembly system for the automated precision assembly of active microsystems. The part sizes of the microsystems can reach centimeter range, but they must be assembled with an assembly accuracy of about a few micrometers. The results of a sensor guided assembly process using a 3D vision sensor are shown. This process reaches(More)
This paper presents two ways of decreasing the assembly uncertainty of micro assembly tasks through further or optimized integration of sensors within a size adapted assembly system. To accomplish this, the orientation of the part to be placed with respect to the vision sensor is changed. This was possible through a new gripper which was able to overcome(More)
The first part of the paper describes different concepts for micro production. The potential of miniaturised size adapted robots is pointed out based on their flexibility. Flexibility thereby is discussed in a detailed way that leads to two different ways of robot integration. The second part of the paper deals with the desktop factory concept. Beginning(More)