System design based on microscopic vision with stereo light microscope for gripping microscopic objects

This paper discusses the gripping and positioning of 50–100 µm diameter wires of a small coil in preparation for soldering while processing stereo microscope images to control the micro-gripper. The automated system for gripping wires was designed and implemented to work with a stereo light microscope (SLM). The relative position of the micro-gripper and the wire is calculated by the vision system. The position data provides feedback to a mobile platform with three degrees of freedom, so positioning of the micro-gripper can be controlled. The performance of the micro-gripper system has been evaluated as follows. The positioning accuracy of feature points was determined experimentally by calculating the feature point coordinates in the world coordinate frame (WCF) as the micro-gripper moved along the X axis, Y axis and Z axis. The results were compared with the actual motion of the micro-gripper and the gripping performance was verified.