Multi-Axes Micro Gripper for the Handling and Alignment of Flexible Micro Parts

Optical micro parts, such as glass fibres, require handling and alignment accuracies down to the sub micrometer range. Addressing this task, one aim of the Fraunhofer IPT is the development of new concepts of active gripper systems. In this context a highly integrated, adaptive, rugged and economical gripper system particularly for accurate handling and alignment of flexible micro parts down to the sub-micron level has been developed. This gripper system can be used on conventional robot systems for carrying out micro-assembly operations. The robot system does the pre-positioning, the tolerances necessary for the micro-assembly are subsequently realized directly at the tip of the gripper with the gripper integrated multi-axes system. Positioning systems that achieve the required positioning increments in the sub micron range are already existent. However, the problem of such systems is that they are normally highly sensitive against mechanical impact and extremely cost intensive. In this paper the development of a highly robust gripper-integrable axes system and its integration in a novel gripper design with a multi-axis adjustment system is presented.