Annika Raatz

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The paper presents the design of a hyper flexible robot, actuated by artificial muscles, based on the requirements of industrial assembly. The design process is inspired by biological examples and leads to a high-segmented kinematic structure with redundant degrees of freedom in order to increase the maneuverability of the robot. The actuators are arranged(More)
Force guided assembly is attractive but the implementation is challenging when uncertainties are present. In these cases, contact models that guide the assembly process are attractive. This article elaborates the usage of static contact models, which map displacements to force-torque vectors of particular contact situations (force-torque map). This model, a(More)
This article presents advances in optimal experiment design, which are intended to improve the parameter identification of nonlinear state space models. Instead of using a sequence of samples from one or just a few coherent sequences, the idea of identifying nonlinear dynamic models at distinct points in the state space is considered. In this way, 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)
Precision assembly of hybrid micro systems requires not only a high precision handling and adjusting of the parts but also a highly accurate and fast bonding technique. 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 using hot melt adhesives was(More)