In this paper we demonstrate coordinated control of multiple micromanipulators for use in automated 3D micromanipulation and assembly tasks. We build on our previous work on caging micromanipulation by using a similar methodology and extend it to the 3D case. Simultaneous movements of the coordinated micromanipulators normal to the caging polygon allows for the transition of 2D planar micro-caging grasps to micro-force closure grasps suitable for 3D micro-transporting tasks. Experimental results illustrate the success and accuracies of both the micro-grasps’ transitions and 3D pick-and-place tasks. Finally, the new 3D transportation primitive is used in conjunction with our previous 2D micromanipulation primitives and an encoded XY stage to semi-autonomously execute some representative 3D microassembly tasks.

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