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Enabling Low-Cost Microassembly using Visual Feedback

The constant reduction in the size of mechanical and electrical components has enabled the construction of smaller mechanical systems. However, the current assembly process of these millimeter and micro-scaled systems is time-consuming and imprecise. In order to simplify the process an automated low-cost rapid prototyping called Orthotweezer is being developed. This paper discusses enhancements made to the functionality of the existing low cost Orthotweezer system. Using image processing and computer vision techniques we have implemented algorithms for accurate identification, manipulation, and grasping of microparts. We have also implemented an autofocus method for the motorized microscope stage as well as image based look-and-move visual servoing strategy for precise motion control.