Abstract: The method and apparatus of the present invention permit the visual inspection of electronic component leads during the mounting thereof. A hot bar thermode or other mounting tool is provided having a plurality of thermally activatable blades. A vacuum chuck and associated vacuum pump are utilized to selectively mount an integrated circuit device such that the conductive leads of the device are disposed adjacent to the lower surfaces of the thermally activatable blades. A low angle light source is then utilized to illuminate the integrated circuit device conductive leads such that a high contrast is created between the conductive leads and the lower surface of the thermally activatable blades, in order to permit an accurate visual inspection of the conductive leads.

Abstract: A method and apparatus utilizing one or two cameras are described for visually inspecting a polygonal component located at the end of the robotic end effector for determining presence, position and orientation of component leads prior to placement. Image processing improvements are provided for decreasing computational complexity by representing two dimensional image areas of interest, and each containing leads along one side of a component, by one dimensional summation profiles.

Abstract: A multi-degree of freedom force transducer is provided for measuring forces applied to gripper fingers in a manipulator when grasping an object therebetween. The transducer includes a pair of force sensor assemblies rigidly connected at a first end to a respective finger and at a second end to a drive member for the gripper. A plurality of parallel beam structures are contained in each of the force sensor assemblies, each consisting of a pair of flat parallel flexure members, each member bridging opposite sides of a gap in the structure. These parallel beam structures are oriented so that the axis perpendicular to the planar surfaces of the parallel flexure members are orthogonal to one another, providing the capability of measuring the force applied to an object held by the gripper in the X, Y and Z axial directions.