How SCARA, Six-Axis, and Cartesian Pick-And-Place Robotics Optimize and Streamline Electronics
Consider how flexible workcells served by six-axis robots often execute two or more tasks such as general workpiece handling, conveyor and other machine tending, machining, assembly, and packaging. Similarly, the application of encapsulation, vibration damping, shielding, adhesion, and sealing materials is often executed within one six-axis robotic workcell. Here, robotic end effectors complemented by automated tool changers impart multitasking capabilities so every workcell is maximally useful; EoAT changeovers are typically fast to support the semiconductor industry’s high throughput requirements. For example, a robot might employ one EoAT to pick and place items into a fixture. Then (after a quick EoAT changeover) it might apply adhesive and press together mating housing halves of an end product. A third EoAT might load finished items onto an outbound conveyor or into a case.
Figure 4: Small-component EGK grippers are lubricated with H1 grease and sport cleanroom certification. (Image source: SCHUNK Intec Inc.)
Figure 2: The use of robotics and other automation for the production of micro- electronics extends beyond the cleanroom. (Image source: Dreamstime)
Figure 6: Robotic end effectors can take the form of soldering iron tips to automate the assembly of subcomponents onto PCBs. (Image source: Dreamstime)
Though beyond the scope of this article, the parallel-kinematics design known as delta robots is also seeing increased adoption — especially for electronic products assembly. Whether operating alone, ganged in pairs, or installed to complement SCARAs in a workcell, delta robots in semiconductor manufacture provide exceptionally quick and dynamic picking and packing capabilities. Read more about these applications in the digikey. com How Delta Robotics Optimize and Streamline Electronics Manufacturing Processes article on delta robots in the semiconductor industry. In fact, the kinematics of deltas impart accuracy and repeatability for suitability in the assembly of photovoltaic electronics.
Robotics rely on end effectors for productivity Advanced cleanroom-rated robotic end-of-arm tooling (EoAT or end effectors ) such as grippers are core to semiconductor production. Here, EOATs must have high dynamics and the ability to execute tracing, placing, and assembling with exacting precision. In some cases, EoAT force feedback or machine vision boosts parts- handling accuracy by imparting adaptive capabilities — so pick- and-place routines are quickly executed even if there’s some variability in workpiece positions, for example. Such sensor and feedback advancements can sometimes render the complicated electronics-handling fixtures of legacy solutions unnecessary.
After all, SCARAs offer high speeds throughout their
SCARAs pair well with conveyors used in semiconductor processing stations as well as wafer carousels (also called rotary tables) designed to facilitate the addition of components or features to multiple circuit boards at a time. Six-axis robotics in electronics manufacturing Industrial-grade articulated robots feature multiple rotary joints to manipulate objects through two to 10 DOFs. The most common articulated-robot format is the six-axis robot. Semiconductor processes necessitating cleanroom settings benefit from six-axis robots that are suitably rated as well as compact to
cylindrically shaped 360° reach — often capable of executing pick- and-place tasks far faster (and sometimes more precisely) than comparable six-axis and cartesian solutions. More specifically, some industry-typical SCARAs deliver repeatability to within ±20 μm on linear degrees of freedom (DOFs) and ±0.01° on the angular axis — as well as direct-drive options for smooth transport of thin and relatively brittle wafers. While payloads can be limited to 10 kg or lighter for many SCARAs, that’s rarely an issue in semiconductor applications — though is certainly a consideration for the related field of solar-panel production.
SCARA robotics in electronics manufacturing For decades, SCARAs have remained the gold standard for semiconductor wafer processing, handling, and assembly tasks including: n Deposition and etching Figure 5: Electronics contract manufacturing makes copious use of robotics for board testing. (Image source: Dreamstime)
n Thermal processing n Reticle processing n Circuit board assembly n Testing and metrology
Figure 3: Shown here is the automated soldering of chip components onto a PCB. (Image source: Dreamstime)
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