Bharath Mukundakrishnan

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Development of hybrid MEMS devices has demonstrated a need for automatic microassembly strategies. Visual servoing techniques have shown great promise as a control strategy capable of sub-micron precision while compensating for many of the problems that exist in the micro domain, including thermal expansion of assembly devices and imprecisely modeled and(More)
We introduce a hierarchical approach for the analysis and design of systems with multiple frictional contacts, with a focus on applications to the design of part feeding and assembly processes. The simplest model in the hierarchy is the geometric model described by a set of non-penetration constraints that depends only on the geometry of the design. The(More)
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