Challenges of Precision Assembly with a Miniaturized Robot

The first part of the paper describes the miniaturized robot Parvus, which is suitable for desktop factory applications. The Parvus is well equipped for pick-and-place of micro parts in precision assembly. The challenges of precision assembly are discussed considering the technical data and behavior of the robot. The hybrid robot operates based on parallel kinematics and is driven by micro harmonic drive gears. Due to its size-reduction, the Parvus offers prospects, but also constraints which are discussed and presented by measuring data. Finally, solutions for improving the precision of the robot are presented.