Patent Publication Number: US-2006005602-A1

Title: Calibration for automated microassembly

Description:
CROSS-REFERENCE  
      This application claims the benefit of U.S. Provisional Application No. 60/______, filed Jun. 25, 2004, entitled “CALIBRATION SYSTEM AND TECHNIQUES FOR MICROASSEMBLY,” Attorney Docket Number 34003.116, which is hereby incorporated herein by reference in its entirety. 
    
    
      This invention was made with the United States Government support under 70NANB1H3021 awarded by the National Institute of Standards and Technology (NIST). The United States Government has certain rights in the invention. 
    
    
     BACKGROUND  
      Microstructures assembled perpendicular to the plane of fabrication have unique properties and potential applications within optical and RF devices. Since the planar nature of micromachining prohibits true three-dimensional fabrication, some level of assembly is necessary.  
      Pick and place assembly is one option for such assembly. Pick and place assembly employs a multiple degree-of-freedom high precision robot using attached micro-mechanical end-effectors to remove assembly components from one location and assemble them in another location. Thus, it is necessary to calibrate the assembly robot to the one or more dies or chips containing the assembly components and the assembly locations. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
      Aspects of the present disclosure are best understood from the following detailed description when read with the accompanying figures. It is emphasized that, in accordance with the standard practice in the industry, various features are not drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or reduced for clarity of discussion.  
       FIG. 1A  is a top view of at least a portion of one embodiment of an apparatus according to aspects of the present disclosure.  
       FIG. 1B  is a top view of the apparatus shown in  FIG. 1A .  
       FIG. 1C  is a top view of the apparatus shown in  FIG. 1B .  
       FIG. 2A  is a top view of at least a portion of one embodiment of an apparatus according to aspects of the present disclosure.  
       FIG. 2B  is a top view of the apparatus shown in  FIG. 2A .  
       FIG. 3A  is a top view of at least a portion of one embodiment of an apparatus according to aspects of the present disclosure.  
       FIG. 3B  is a top view of the apparatus shown in  FIG. 3A .  
       FIG. 4A  is a top view of at least a portion of one embodiment of an apparatus according to aspects of the present disclosure.  
       FIG. 4B  is a top view of the apparatus shown in  FIG. 4A .  
       FIG. 4C  is a top view of the apparatus shown in  FIG. 4B .  
       FIG. 4D  is a top view of the apparatus shown in  FIG. 4C .  
       FIG. 5  is a perspective view of at least a portion of one embodiment of an apparatus according to aspects of the present disclosure.  
       FIG. 6A  is a side view of at least a portion of one embodiment of an apparatus according to aspects of the present disclosure.  
       FIG. 6B  is a side view of the apparatus shown in  FIG. 6A .  
       FIG. 6C  is a side view of the apparatus shown in  FIG. 6B .  
       FIG. 6D  is a side view of the apparatus shown in  FIG. 6C .  
       FIG. 6E  is a side view of the apparatus shown in  FIG. 6D .  
       FIG. 6F  is a side view of the apparatus shown in  FIG. 6E .  
       FIG. 7  is a top view of at least a portion of one embodiment of an apparatus according to aspects of the present disclosure.  
       FIG. 8  is a top view of at least a portion of one embodiment of an apparatus according to aspects of the present disclosure. 
    
    
     DETAILED DESCRIPTION  
      It is to be understood that the following disclosure provides many different embodiments, or examples, for implementing different features of various embodiments. Specific examples of components and arrangements are described below to simplify the present disclosure. These are merely examples and are not intended to be limiting. In addition, the present disclosure may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. Moreover, the formation of a first feature over, on, or coupled to a second feature in the description that follows may include embodiments in which the first and second features are in direct contact, and may also include embodiments in which additional features interpose the first and second features, such that the first and second features may not be in direct contact.  
      Referring to  FIG. 1A , illustrated is a top view of at least a portion of one embodiment of an apparatus  100  constructed according to aspects of the present disclosure. The apparatus  100  may be integral to, assembled with, or otherwise form at least a portion of a micro-mechanical device. A micro-mechanical device, as used herein, may be or comprise a micro-scale mechanical device, a micro-electronic device, a micro-electro-mechanical device, a micro-electro-mechanical system (MEMS) device, or other micro-scale device, component, or assembly (hereafter collectively referred to as micro-mechanical devices). In one embodiment, a micro-mechanical device may have feature dimensions (e.g., widths of patterned lines or other features) that are less than about 50 microns. In another embodiment, the feature dimensions may be less than about 25 microns. Micro-mechanical devices within the scope of the present disclosure may also be or comprise a nano-mechanical device, such as a device, component, or assembly or a nano-electro-mechanical system (NEMS), including those having feature dimensions less than about 1000 nm.  
      The apparatus  100  may include or be formed on or over a substrate  110 . The substrate  110  may comprise a bottom-most layer or region of a micro-mechanical device or a component of another device to which the apparatus  100  may be bonded or otherwise coupled. The substrate  110  may comprise at least a portion of a silicon-on-insulator (SOI) substrate, although other substrate types or configurations may also be employed.  
      The apparatus  100  may be defined from or in one or more layers located over the substrate  110 . For example, in one embodiment, the apparatus  100  may be defined from a device layer located over the substrate  110 , wherein a sacrificial layer may interpose the device layer and the sacrificial layer. Such a device layer may comprise polysilicon and/or other semiconductive materials, and the sacrificial layer may comprise silicon dioxide and/or other electrically insulating materials. An additional layer may also be located over the device layer in some embodiments. One such additional layer may be a feature detection enhancement layer, such as one comprising gold and/or another metal or metal alloy. Each of the above-described layers may be formed by conventional or future-developed processes, and may have individual thicknesses ranging between about 100 nm and about 10,000 nm, although such characteristics are not limited within the scope of the present disclosure. One or more of the above-described layers may also comprise multiple layers.  
      The apparatus  100  includes a member  120  which, in the embodiment shown in  FIG. 1A , may be a micro-mechanical calibration member  120 . The micro-mechanical calibration member  120  may be etched, patterned, or otherwise defined in or from one or more of the above-described layers that are located over the substrate  110 . For example, in one embodiment, the micro-mechanical calibration member  120  is defined in a device layer separated and/or electrically isolated from the substrate  110  by a sacrificial layer. A portion of the sacrificial layer between the micro-mechanical calibration member  120  and the substrate  110  may be etched or otherwise removed to release a portion of the micro-mechanical calibration member  120  from the substrate. However, a small anchor pad  130  may be protected from the releasing etchant or otherwise maintained, thereby fixing the location of an end  125  of the micro-mechanical calibration member  120  relative to the substrate  110 , as indicated in  FIG. 1A . Thus, the orientation of at least the end  125  of the micro-mechanical calibration member  120  relative to the substrate  110  may be predetermined or otherwise known. Although illustrated in  FIG. 1A  as having some boundaries outside the boundaries of the micro-mechanical calibration member  120 , one or more of the boundaries of the anchor pad  130  may also be substantially aligned with or fall within one or more of the boundaries of the micro-mechanical calibration member  120 .  
      Also, although illustrated as an elongated member being substantially greater in length than in width, the micro-mechanical calibration member  120  may have other shapes, and may comprise more than one member, section, or portion. For example, the cross-sectional shape and/or area of the micro-mechanical calibration member  120  may vary along its length, and may comprise members or sections having different lengths and/or cross-sectional shapes.  
      The micro-mechanical calibration member  120  may substantially comprise an elastic or otherwise resilient material, such as polysilicon or other materials, including materials having elastic properties when employed to form micro-scale features, although such materials may not have elastic properties when employed to form macro-scale features. As such, the micro-mechanical calibration member  120  may be biased to or towards a neutral position upon release from the substrate  110 . However, the neutral position of the micro-mechanical calibration member  120  may also have an orientation that is somewhat less linear than as shown in  FIG. 1A , such as a skewed or bowed configuration. In one embodiment, the dimensions and/or materials of the micro-mechanical calibration member  120  may be adapted to minimize or substantially eliminate such non-linearity, including any non-linearity that may result from internal stresses that may accumulate during fabrication.  
      During one embodiment of a calibration method according to aspects of the present disclosure, a reference plane, surface, line, spline, or point (hereafter collectively referred to as a reference element)  140  may be established. In  FIG. 1A , the reference element  140  is a linear, two-dimensional element that is substantially aligned with at least a portion of an edge  127  of the micro-mechanical calibration member  120 . The reference element  140  may be recorded or otherwise stored as a positionally fixed datum relative to the substrate  110  and/or to a micro-mechanical end-effector  150 . The location of the edge  127  may be obtained by conventional or future-developed edge detection apparatus, software, and techniques, such as the machine vision systems available from NATIONAL INSTRUMENTS of Austin, Tex. The orientation of the reference element  140  relative to the substrate  110  and/or the micro-mechanical end-effector  150 , as well as the orientation of the micro-mechanical calibration member  120  relative to the substrate  110  and/or the micro-mechanical end-effector  150 , may be or comprise lateral, angular, and zenith positions thereof, and/or other degrees of freedom, each of which may be measured and/or recorded in one or more Cartesian, polar, cylindrical, spherical, and/or circular coordinate systems, among others.  
      Referring to  FIG. 1B , illustrated is a top view of the apparatus  100  shown in  FIG. 1A  after the micro-mechanical end-effector  150  and the micro-mechanical calibration member  120  have been brought into contact with sufficient force to deflect the micro-mechanical calibration member  120 . The micro-mechanical end-effector  150  may be or comprise a probe or tip having a rounded, squared, pointed, or other shape. While not limited within the scope of the present disclosure, the dimensions of the micro-mechanical end-effector  150 , or at least the portion thereof configured to interface with the micro-mechanical calibration member  120  (e.g., the tip), may range between about 1 μm and about 500 μm. At least the interfacing portion of the micro-mechanical end-effector  150  may comprise silicon, tungsten, electroplated nickel, and/or other materials. The micro-mechanical end-effector  150  may be at least partially robotic or be a component of a robotic system or apparatus, such as an automated positioning or assembly system or apparatus. Micro-mechanical contacting-members and other apparatus other than the micro-mechanical end-effector  150  may also or alternatively be employed to contact and deflect the micro-mechanical calibration member  120  within the scope of the present disclosure. Thus, any description of reference herein to a micro-mechanical end-effector may be application or readily adaptable to other types of micro-mechanical contacting-members.  
      In one embodiment, the force necessary to deflect the micro-mechanical calibration member  120  in response to contact with the micro-mechanical end-effector  150  may range between about 1 μN and about 1000 μN. Such a contact force, which may also be referred to herein as a deflection force, may also or alternatively range between about 10 μN and about 100 μN. The deflection force may also or alternatively be less than about 50 μN in some embodiments, and/or greater than about 5 μN in some embodiments. In one embodiment, the contact force is about 5 μN. The deflection force may also be limited by predetermined constraints within the method or apparatus employing the micro-mechanical calibration member  120 . For example, the deflection force may not be allowed to exceed the quotient of the force required to plastically deform the micro-mechanical calibration member  120  divided by a predetermined safety factor, wherein the safety factor may range between about 1.0 and about 10.0. In one embodiment, the safety factor is about 5.0.  
      The deflection of the micro-mechanical calibration member  120  may be or comprise an angular deflection A of a free end  129  of the micro-mechanical calibration member  120 . The angular deflection A may be determined by detecting the location of one or more points on the edge  127  of the micro-mechanical calibration member  120  for comparison with the reference element  140 . However, in other embodiments, the deflection of the micro-mechanical calibration member  120  may be or comprise a substantially lateral deflection of the free end  129  and/or other portion of the micro-mechanical calibration member  120 , wherein such lateral deflection may be substantially parallel to the substrate  110  (e.g., substantially parallel to the page in  FIG. 1B ). Determining such a lateral deflection may require detecting a fewer number of points than required for determining angular deflection. The deflection of the micro-mechanical calibration member  120  may also comprise both an angular component and a lateral component.  
      Detecting the deflection of the micro-mechanical calibration member  120  may be performed substantially as described above, such as with a machine vision system. The deflection detection may also be performed continuously, such as to dynamically detect the deflection while the micro-mechanical calibration member  120  is in motion relative to the substrate  110 .  
      Moreover, the deflection force described above may be predetermined based on the desired angular and/or lateral displacement of the micro-mechanical calibration member  120 . For example, a minimum contact force of the micro-mechanical end-effector  150  may be maintained in order to achieve the desired displacement of the micro-mechanical end-effector  150  and/or the micro-mechanical calibration member  120  relative to the substrate  110  and/or the reference element  140 . In such an embodiment, the speed and/or total displacement of the micro-mechanical end-effector  150  may be constrained to avoid plastically deforming or otherwise damaging the micro-mechanical calibration member  120 . In another embodiment, the deflection force may be incrementally or otherwise increased until a desired, minimum, or maximum angular and/or lateral displacement of the micro-mechanical calibration member  120  relative to the reference element  140  is achieved.  
      Referring to  FIG. 1C , illustrated is a top view of at least a portion of the apparatus  100  shown in  FIG. 1B  after the micro-mechanical calibration member  120  is allowed to return to its neutral position (as shown in  FIG. 1A ) while maintaining contact between the micro-mechanical calibration member  120  and the micro-mechanical end-effector  150 . That is, the deflection of the micro-mechanical calibration member  120  may be decreased to a predetermined amount or to within a predetermined range which may correspond to its neutral position. For example, the deflection of the micro-mechanical calibration member  120  may be decreased to less than or substantially equal to about one micron from, and/or about 0.5 degrees relative to, the reference element  140 . In one embodiment, the deflection of the micro-mechanical calibration member  120  may be decreased to less than or substantially equal to about 0.05 degrees relative to the reference element  140 .  
      As described above, because the micro-mechanical calibration member  120  is monolithically or otherwise formed integrally with the substrate  110 , the location of the neutral position of the micro-mechanical calibration member  120  relative to the substrate  110  is substantially predetermined. Consequently, the location of the micro-mechanical end-effector  150  in one degree of freedom relative to the substrate  110  (e.g., relative to one axis of a coordinate system of the substrate  110 ) can be accurately determined when the micro-mechanical end-effector  150  is contacting the micro-mechanical calibration member  120  and the micro-mechanical calibration member  120  is substantially returned to its neutral position. Locations of the micro-mechanical end-effector  150  in additional degrees of freedom may be determined by performing the above-described method with additional micro-mechanical calibration members integral to or otherwise fixedly positioned relative to the substrate  110  in other orientations. For example, an additional micro-mechanical calibration member may be formed simultaneously with the micro-micro-mechanical calibration member  120  in an orientation that is substantially orthogonal to the micro-mechanical calibration member  120 . The additional micro-mechanical calibration member  120  may otherwise be substantially similar to the micro-mechanical calibration member  120 .  
      The above-described aspects of the micro-mechanical calibration member  120  and methods of calibration employing such a feature may be application or readily adaptable to other embodiments described below or otherwise within the scope of the present disclosure.  
      Referring to  FIG. 2A , illustrated is a top view of at least a portion of another embodiment of an apparatus  200  according to aspects of the present disclosure. The apparatus  200  may be integral to, assembled with, or otherwise form at least a portion of a micro-mechanical device. The apparatus  200  may be substantially similar to the apparatus  100  shown in  FIGS. 1A-1C . For example, the apparatus  200  includes a micro-mechanical calibration member  120 , wherein one end  125  is fixedly positioned relative to a substrate  110  and another end is displaceable from a neutral position.  
      However, the apparatus  200  includes an additional member  210 . The additional member  210  may be substantially similar in composition and manufacture to the micro-mechanical calibration member  120 . At least a portion of the additional member  210  is anchored to or otherwise fixedly positioned relative to the substrate  110 , such as may result from fabricating the additional member  210  directly on the substrate  110  or a component rigidly secured to the substrate  110 . In the illustrated embodiment, all or a substantial portion of the additional member  210  is anchored to or otherwise fixed in location relative to the substrate  110 . Accordingly, the additional member  210  may be referred to herein as a fixed member  210 .  
      The additional member  210  may serve as a reference for detecting displacement of the micro-mechanical calibration member  120 . For example, in the embodiment shown in  FIGS. 1A-1C , the displacement of the micro-mechanical calibration member  120  is detected relative to the reference point  140 , which requires an initial position (e.g., the neutral position) of the micro-mechanical calibration member  120  to be detected for subsequent reference. However, employing the additional member  210  allows the detection of displacement of the micro-mechanical calibration member  120  relative to a physical reference, as demonstrated in  FIG. 2B .  
      Referring to  FIG. 2B , illustrated is a top view of the apparatus  200  shown in  FIG. 2A  after the micro-mechanical end-effector  150  has been translated toward the micro-mechanical calibration member  120  to the extent that the micro-mechanical calibration member  120  is deflected from its neutral position by angle A. To determine the location of the micro-mechanical end-effector  150  relative to the substrate  110 , the micro-mechanical end-effector  150  may be translated in the opposite direction to reduce the deflection from the angle A to a lesser, predetermined angle. For example, the translation of the micro-mechanical end-effector  150  in the opposite direction may be sufficient to allow the displacement of the micro-mechanical calibration member  120  to return to a state of substantially no deflection, such that the micro-mechanical calibration member  120  may substantially return to its neutral position, while contact between the micro-mechanical calibration member  120  and the micro-mechanical end-effector  150  is maintained.  
      Referring to  FIG. 3A , illustrated is a top view of at least a portion of another embodiment of an apparatus  300  according to aspects of the present disclosure. The apparatus  300  may be integral to, assembled with, or otherwise form at least a portion of a micro-mechanical device. The apparatus  300  may be substantially similar to the apparatus  200  shown in  FIGS. 2A and 2B . For example, the apparatus  200  includes a fixed member  210  at least partially fixed in position relative to a substrate  110 .  
      The apparatus  300  also includes a micro-mechanical calibration member  310  having a biasable member  320  and a displaceable member  330  integral to or otherwise coupled to the biasable member  320 . The biasable member  320  and the displaceable member  330  may each be substantially similar in composition and manufacture to the micro-mechanical calibration member  120  described above. However, the biasable member  320  may be configured to deform a greater amount than the displaceable member  330  when mechanically biased. For example, as in the embodiment shown in  FIG. 3A , the biasable member  320  and the displaceable member  330  may each be elongated members, although the biasable member  320  may have a thinner cross-section in the intended direction of deflection. Thus, the biasable member  320  may substantially be or comprise a spring or spring-like element, or otherwise be resilient or comprise a resilient portion, whereas the displaceable member  330  may be substantially more rigid or inflexible, at least relative to the biasable member  320 . Moreover, the geometries of the biasable member  320  and the displacement member  330  may vary from those shown in  FIG. 3A . For example, the biasable member  320  may be or comprise a number of substantially concentric or spiral arcuate portions, such as in a coiled configuration.  
      An end  325  of the biasable member  320  is fixedly positioned relative to the substrate  110 , whereas the displaceable member  330  may be substantially released from the substrate  110  to allow displacement relative to the substrate  110  in response to contact with the micro-mechanical end-effector  150 . Thus, the displaceable member  330  may be angularly and laterally displaceable from the neutral position shown in  FIG. 3A .  
      Referring to  FIG. 3B , illustrated is a top view of the apparatus  300  shown in  FIG. 3A  after the micro-mechanical calibration member  310  has been displaced in response to contact with the micro-mechanical end-effector  150 . The displacement of the micro-mechanical calibration member  310  relative to the substrate  110  may be detected by comparing the angular deflection A between the fixed member  210  and the displaceable member  330  or other portion of the micro-mechanical calibration member  310 . Such detection may be edge detection that may be determinable by conventional or future-developed edge-detection apparatus and methods, as described above. The deformation of the micro-mechanical calibration member  310  may also be detected relative to a previously detected and stored neutral position, as described above with reference to  FIGS. 1A-1C .  
      Referring to  FIG. 4A , illustrated is a top view of at least a portion of another embodiment of an apparatus  400  according to aspects of the present disclosure. The apparatus  400  may be integral to, assembled with, or otherwise form at least a portion of a micro-mechanical device. The apparatus  400  may be substantially similar to the apparatus  300  shown in  FIGS. 3A and 3B . For example, the apparatus  400  includes a micro-mechanical calibration member  410  having a biasing member  420  and a displaceable member  430 , each of which may be formed by patterning one or more layers formed over a substrate  110  and subsequently releasing at least portions of the members by etching or otherwise removing portions of a sacrificial layer interposing the members and the substrate  110 .  
      The biasable member  420  comprises a number of substantially concentric coils connected end-to-end, and is coupled at one end  422  to the substrate  110  (or a member coupled to or otherwise fixedly positioned relative to the substrate  110 ), and is coupled at another end  424  to the displaceable member  430 . The substrate  110  may also include a recess  115  to prevent physical contact between the biasable member  420  and surrounding portions of the apparatus  400  and, thereby, allow movement of the biasable member  420 . For example, the substrate  110  may comprise a device layer as described above with reference to  FIGS. 1A-1C , wherein the biasable member  420  (and the displaceable member  430 ) may be defined by removing portions of the device layer, including removing a portion to form the recess  115  sufficient to allow movement of the biasable member  420  without contacting other portions of the device layer.  
      The displaceable member  430  is configured to receive a micro-mechanical end-effector  150 . For example, the displaceable member  430  may include a recess  435  having lateral dimensions that are substantially similar or slightly larger (e.g., at least about 10% larger) than lateral dimensions of the micro-mechanical end-effector  150 . However, in one embodiment, the recess  435  may be substantially larger than the micro-mechanical end-effector  150 . For example, the micro-mechanical end-effector  150  may have a diameter of about 75 μm and the recess  435  may have lateral dimensions of about 250 μm. However, the present disclosure does not limit the size of shape of either the micro-mechanical end-effector  150  or the recess  435 . The recess  435  may also extend through the device layer in which it is defined, such that the recess  435  may be an aperture or opening.  
      The recess or opening  435  also may not be confined on all sides by a portion of the displaceable member  430 . That is, in contrast to the closed, four-sided configuration shown in  FIG. 4A , the displaceable member  430  may have a three-sided or other open configuration, possibly having a substantially U-shaped profile. The displaceable member  430  may also have a two-sided configuration, possibly having a substantially L-shaped profile. However, many other shapes may be employed for the displaceable member  430  to allow it to be configured to receive the micro-mechanical end-effector  150  within the scope of the present disclosure. In the illustrated embodiment, the displaceable member  430  has a four-sided configuration, wherein the internal edge of each of the four sides is substantially orthogonal to its neighboring sides, such that the recess or opening  435  has a substantially rectangular shape.  
      A recess  440  may also be formed substantially around the displaceable member  430  to allow movement of the displaceable member  430  relative to the substrate  110 . The recess  440  may have a shape substantially conforming to the outer edges of the displaceable member  430 . The recess  440  may otherwise be substantially similar to the recess  115  and/or the recess  435 .  
      Referring to  FIG. 4B , illustrated is a detailed view of a portion of the apparatus  400  shown in  FIG. 4A . According to at least one embodiment of a method of calibrating the micro-mechanical end-effector  150  to the substrate  110 , conventional and/or future-developed feature detection apparatus and methods may be employed to detect one or more edges or other features of the micro-mechanical calibration member  410  and the substrate  110 .  
      For example, in the embodiment shown in  FIG. 4B , an edge or edge portion (hereafter collectively referred to as an edge)  460  of the micro-mechanical calibration member  410  may be detected for comparison with an edge  470  of the substrate  110 , and/or an edge  465  of the micro-mechanical calibration member  410  may be detected for comparison with an edge  475  of the substrate  110 . The edges  460  and  470  may be substantially parallel when the micro-mechanical calibration member  410  is substantially in its neutral position. However, such parallelism is not necessary a characteristic of all embodiments within the scope of the present disclosure. For example, the angular relation between the edges  460  and  470  when the micro-mechanical calibration member  410  is in its neutral position may be detected for subsequent comparison during calibration, whether or not the edges  460  and  470  are substantially parallel when the micro-mechanical calibration member  410  is in its neutral position. The edges  465  and  475  may also be substantially parallel when the micro-mechanical calibration member  410  is in its neutral position, and each may also be substantially perpendicular to the one or both of the edges  460  and  470 .  
      Referring to  FIG. 4C , illustrated is a top view of the apparatus  400  shown in  FIG. 4B  after the micro-mechanical end-effector  150  has been translated, such that the micro-mechanical calibration member  410  has been displaced relative to the substrate  110  in response to contact with the micro-mechanical end-effector  150 . During such displacement, or in some embodiments after such displacement, the relative orientations of the edges  460  and  470  and/or the relative orientations of the edges  465  and  475  may be detected. For example, the angular and/or lateral offset between the edges  460  and  470  and/or the edges  465  and  475  may be detected.  
      Referring to  FIG. 4D , illustrated is a top view of the apparatus  400  shown in  FIG. 4C  after the micro-mechanical end-effector  150  has been translated in a substantially opposite direction from the translation represented in  FIG. 4C . For example, the translation of the micro-mechanical end-effector  150  from the position shown in  FIG. 4B  to the position shown in  FIG. 4C  may be in a first direction that may be a primary direction of a coordinate system of the micro-mechanical end-effector  150  and/or substrate  110 , such as in a direction aligned with the x-axis of such a coordinate system if it is a Cartesian coordinate system. Thereafter, the translation of the micro-mechanical end-effector  150  from the position shown in  FIG. 4C  to the position shown in  FIG. 4D  may be in a second direction that is substantially antiparallel to the first direction.  
      During the translation of the micro-mechanical end-effector  150  towards the position shown in  FIG. 4D , the relative orientation of the edges  460  and  470 , and/or of the edges  465  and  475 , may be detected continuously or at predetermined time intervals. The translation of the micro-mechanical end-effector to or toward the position shown in  FIG. 4D  may be halted once a predetermined relative orientation of the edges  460  and  470 , and/or of the edges  465  and  475 , is achieved. In one embodiment, this predetermined relative orientation corresponds to the micro-mechanical calibration member  410  substantially returning to its neutral position. The predetermined relative orientation may also or alternatively correspond to the edges  460  and  470 , and/or the edges  465  and  475 , being substantially parallel.  
      Because the micro-mechanical end-effector  150  is contacting the micro-mechanical calibration member  410  when the micro-mechanical calibration member  410  is in a known position, such as its neutral position, the location of the micro-mechanical end-effector  150  may be determined. The location of the micro-mechanical end-effector  150  relative to the substrate  110  may thus be noted, and possibly stored, for subsequent use.  
      This process of contacting the micro-mechanical calibration member  410  and the micro-mechanical end-effector  150  to displace the micro-mechanical calibration member  410  from its neutral position relative to the substrate  110  and subsequently decreasing the displacement of the micro-mechanical calibration member  410  relative to the substrate  110  may then be repeated with translation of the micro-mechanical end-effector  150  in another direction angularly offset from the first and/or second directions described above. For example, the process may be repeated and employ translation of the micro-mechanical end-effector  150  in directions substantially perpendicular to the first and/or second directions, such as in directions substantially aligned with a second primary axis of the coordinate system of the substrate  110  and/or the micro-mechanical end-effector  150 . Consequently, the lateral position of the micro-mechanical end-effector  150  relative to the substrate  110  in more than one degree of freedom may be determined.  
      Referring to  FIG. 5 , illustrated is a perspective view of at least a portion of another embodiment of an apparatus  500  according to aspects of the present disclosure. The apparatus  500  may be integral to, assembled with, or otherwise form at least a portion of a micro-mechanical device. The apparatus is substantially similar to the apparatus  400  shown in  FIGS. 4A-4D . For example, the apparatus  500  includes a micro-mechanical calibration member  510  that may be substantially similar to the micro-mechanical calibration member  410 , at least in that the micro-mechanical calibration member  510  includes a biasable member  520  that is substantially similar to the biasable member  420 .  
      The micro-mechanical calibration member  510  also includes a displaceable member  530  that may be substantially similar to the displaceable member  430  shown in  FIGS. 4A-4D . For example, each of the displaceable members  430 ,  530  include an aperture  435  configured to receive a micro-mechanical end-effector and are movably coupled to the substrate  110  by the biasable member  420 ,  520 , respectively. However, the displaceable member  530  also includes a substantially larger solid portion  540 . The micro-mechanical calibration member  510  may also include one or more feature detection enhancement elements  550  formed on or otherwise coupled to the portion  540  or other portion of the displaceable member  530 . The enhancement elements  550  may each comprise patterned portions of a layer comprising gold or other materials which may aid conventional and/or future-developed feature detection apparatus in detecting the edges or other features of the displaceable member  530 .  
      Other types of feature detection enhancement elements may also be included in the apparatus  500 . In the illustrated example, the apparatus  500  includes enhancement elements  560  substantially comprising a recess, trench, or aperture into or through the layer from which the micro-mechanical calibration member  510  is defined.  
      Referring to  FIG. 6A , illustrated is a side view of at least a portion of an embodiment of an apparatus  600  according to aspects of the present disclosure. The apparatus  600  may be integral to, assembled with, or otherwise form at least a portion of a micro-mechanical device. The apparatus  600  includes a micro-mechanical calibration member  610  located over a substrate  110 , wherein the micro-mechanical calibration member  610  is displaceable relative to the substrate  110  in response to contact with a micro-mechanical end effector  150 . The micro-mechanical calibration member  610  may be substantially similar to one or more of the micro-mechanical calibration members  120 ,  310 ,  410 , and  510  described above.  
      In  FIG. 6A , the micro-mechanical end-effector  150  is initially positioned proximate the micro-mechanical calibration member  610  such that the tip  155  of the micro-mechanical end-effector  150  is below the upper edge  615  of the micro-mechanical calibration member  610  relative to the substrate  110 . Such positioning may include positioning the micro-mechanical end-effector  150  within a recess or aperture in the micro-mechanical calibration member  610 . However, the micro-mechanical calibration member  610  is illustrated in  FIG. 6A  as a single, elongated, resilient member, such as the embodiment shown in  FIGS. 1A-1C , such that initial positioning of the micro-mechanical end-effector  150  may merely comprise placing the micro-mechanical end-effector  150  laterally proximate the micro-mechanical calibration member  610 .  
      Referring to  FIG. 6B , illustrated is a sectional view of the apparatus  600  shown in  FIG. 6A  after the micro-mechanical end-effector  150  is translated in a first direction  620  relative to the substrate  110 . The first direction  620  may be substantially parallel to the substrate  110 , and may be substantially aligned with a primary axis of a coordinate system corresponding to the micro-mechanical end-effector  150  or its controlling system.  
      The micro-mechanical calibration member  610  is displaced relative to the substrate  110  in response to the contact with the micro-mechanical calibration member  150 . The displacement of the micro-mechanical calibration member  610  may be detected by feature detection apparatus and methods which may be similar to those described above. Such detection may also include detecting the location of features that are stationary relative to the substrate  110  for comparison to the changing location of the micro-mechanical calibration member  610 . The detection of displacement of the micro-mechanical calibration member  610  indicates that the tip  155  of the micro-mechanical end-effector  150  is indeed below the upper edge  615  of the micro-mechanical calibration member  610  relative to the substrate  110 .  
      Referring to  FIG. 6C , illustrated is a sectional view of the apparatus  600  shown in  FIG. 6B  after the micro-mechanical end-effector  150  is translated in a second direction  630  relative to the substrate  110 . The second direction  630  may comprise a first component that is substantially antiparallel to the first direction  620  and a second component that is substantially perpendicular to the first and direction  620 , wherein the second component may also be substantially normal to the substrate  110 . In one embodiment, the translation of the micro-mechanical end-effector  150  represented in  FIG. 6C  may comprise a separate translation for each of the above-described first and second components. For example, the micro-mechanical end-effector  150  may first translate substantially antiparallel to the first direction  620  and subsequently translate substantially perpendicularly to the first direction  620  away from the substrate  110 .  
      The translation of the micro-mechanical end-effector  150  represented in  FIG. 6C  may be at least sufficient to allow the micro-mechanical calibration member  610  to return to its neutral position shown in  FIG. 6A , which may be determined by the feature detection apparatus described above. In one embodiment, contact between the micro-mechanical calibration member  610  and the micro-mechanical end-effector  150  may be maintained once the micro-mechanical calibration member  610  resumes its neutral position, although in other embodiments such contact may not be maintained. Moreover, in one embodiment, the micro-mechanical calibration member  610  may not be permitted to return to its neutral position before the micro-mechanical end-effector  150  is translated substantially perpendicular to the first direction  620  away from the substrate  110 .  
      Referring to  FIG. 6D , illustrated is a sectional view of the apparatus  600  shown in  FIG. 6C  after the micro-mechanical end-effector  150  is translated in another direction  640 , which may be substantially parallel to the first direction  620 . Because, in the illustrated example, the vertical translation X of the micro-mechanical end-effector  150  represented in  FIG. 6C  was not sufficient to position the tip  155  beyond the upper edge  615  of the micro-mechanical calibration member  610  relative to the substrate  110 , the micro-mechanical calibration member  610  will again be displaced in response to contact with the micro-mechanical end-effector  150  resulting from its translation in the direction  640 .  
      Referring to  FIG. 6E , illustrated is a sectional view of the apparatus  600  shown in  FIG. 6D  after the micro-mechanical end-effector  150  is translated in another direction  650 , which may be substantially parallel to the direction  630 . As with the translation of the micro-mechanical end-effector  150  in the direction  630 , the translation in the direction  650  may comprise multiple translations, possibly in substantially orthogonal directions.  
      This process of translating the micro-mechanical end-effector  150  parallel to the first direction  620  to contact the micro-mechanical calibration member  610  and subsequently translating the micro-mechanical end-effector  150  in a second direction at least comprising a component that is substantially perpendicular to the first direction  620  may be repeated until the translation parallel to the first direction  620  does not displace the micro-mechanical calibration member  610 , as shown in  FIG. 6F . Because the upper edge  615  of the micro-mechanical calibration member  610  relative to the substrate  110  is predetermined or otherwise known, the vertical location of the micro-mechanical end-effector  150  relative to the substrate  110  may be determined once lateral translation of the micro-mechanical end-effector  150  does not deflect the micro-mechanical calibration member  610 .  
      In a related embodiment, the second direction  630  in which the micro-mechanical end-effector  150  is translated includes a component that is substantially perpendicular to and towards the substrate  110 , in contrast to away from the substrate  110  as in the embodiments described above. In such an embodiment, the initial positioning of the micro-mechanical end-effector  150  may include positioning the tip  155  of the micro-mechanical end-effector  150  further away from the substrate  110  than the upper edge  615  of the micro-mechanical calibration member  610 . Consequently, the initial translation of the micro-mechanical end-effector  150  in the first direction  620  may not deflect the micro-mechanical calibration member  610 . Thereafter, the micro-mechanical end-effector  150  may be alternately translated in the first and second directions until translation in the first direction deflects the micro-mechanical calibration member  610 , thus determining the vertical location of the micro-mechanical end-effector  150  relative to the substrate  110 .  
      Referring to  FIG. 7 , illustrated is a top view of at least a portion of an embodiment of an apparatus  700  according to aspects of the present disclosure. The apparatus  700  may be integral to, assembled with, or otherwise form at least a portion of a micro-mechanical device. The apparatus includes a plurality of micro-mechanical devices  710  and one or more micro-mechanical calibration members  720 . The illustrated micro-mechanical calibration member  720  is depicted as being substantially similar to the micro-mechanical calibration member  510  shown in  FIG. 5 . However, the one or more of the micro-mechanical calibration members  720  may also or alternatively be substantially similar to one or more of the other micro-mechanical calibration members described herein.  
      The apparatus  700  may be or comprise a die or chip on which the micro-mechanical devices  710  and the micro-mechanical calibration member  720  may be formed. Consequently, the orientations of each of the micro-mechanical devices  710  relative to the micro-mechanical calibration member  720  may be predetermined or otherwise known. By employing the micro-mechanical calibration member  720  according to one or more of the calibration aspects described herein, the position of a micro-mechanical end-effector  150  may be calibration and subsequently employed to interface and subsequently manipulate the micro-mechanical devices  710 , such as to form a micro-mechanical assembly.  
      Referring to  FIG. 8 , illustrated is a top view of at least a portion of an embodiment of an apparatus  800  according to aspects of the present disclosure. The apparatus  800  may be or include a positioning stage, substrate, or platform (hereafter collectively referred to as a stage)  805 , including one that may be configured to position and possibly manipulate a die or chip  810  or another type of substrate or platform. For example, the die or chip  810  may be substantially similar to the apparatus  700  shown in  FIG. 7 . The die or chip  810  may include one or more micro-mechanical devices  820  which, for example, may be substantially similar to the micro-mechanical devices  710  shown in  FIG. 7 . The die or chip  810  may also include one or more micro-mechanical calibration members  830  which, for example, may be substantially similar to one or more of the micro-mechanical calibration members  120 ,  310 ,  410 ,  510 ,  610 , or  720  described above, or be formed according to one or more aspects of one or more of such members.  
      The apparatus  800  also includes a micro-mechanical calibration member  830  formed on, coupled to, or otherwise fixedly positioned relative to the stage  805 . The micro-mechanical calibration member  830  may be substantially similar to one or more of the micro-mechanical calibration members  120 ,  310 ,  410 ,  510 ,  610 , or  720  described above, or be formed according to one or more aspects of one or more of such members.  
      The apparatus  800  may also include one or more fixtures or other means  840  for securing the die or chip  810  to the stage  805  in a fixed position. The means  840  may include one or more brackets, clamps, and/or other mechanical fasteners, or other fasteners, including non-mechanical fasteners. In one embodiment, the means  840  include one or more stops against which the die or chip  810  may positioned, and the means  840  may also include vacuum means to secure the die or chip  810  in place against the stops.  
      During one embodiment of a calibration process according to aspects of the present disclosure, aspects of the above-described calibration processes may be executed with the micro-mechanical calibration member  830  to calibrate a micro-mechanical end-effector to the stage  805 . Thereafter, aspects of the above-described calibration processes may be executed with one or more micro-mechanical calibration members  830  to calibrate the micro-mechanical end-effector to the die or chip  810 .  
      Thus, the present disclosure provides an apparatus including a micro-mechanical calibration member having at least a portion that is elastically biasable away from a neutral position in response to mechanical contact. In one embodiment, the apparatus includes a fixed member a micro-mechanical member that is biased to a neutral position and elastically deformable away from the neutral position in response to mechanical contact with a micro-mechanical contacting member. The micro-mechanical member may also be configured to receive the micro-mechanical contacting member, such as in a recess or opening. Accordingly, at least one embodiment of an apparatus according to aspects of the present disclosure includes a micro-mechanical apparatus having calibration means, wherein the calibration means includes an elastically deformable member.  
      The present disclosure also introduces an apparatus including a fixture configured to restrain movement of a micro-mechanical apparatus and a calibration member elastically deformable away from a neutral position. The neutral position may have a fixed orientation relative to the fixture and/or the micro-mechanical apparatus when the micro-mechanical apparatus is restrained by the fixture.  
      The present disclosure also provides a method including, at least in one embodiment: (1) contacting a micro-mechanical member with a micro-mechanical contacting member with sufficient force to elastically deform the micro-mechanical member; and (2) determining relative orientations of the micro-mechanical member and the micro-mechanical contacting member based on a predetermined amount of deformation of the micro-mechanical member from a neutral position when contacted by the micro-mechanical contacting member.  
      Another embodiment of a method according to aspects of the present disclosure includes: (1) translating a micro-mechanical contacting member in a first direction with sufficient force to contact and elastically deform a micro-mechanical member; (2) translating the micro-mechanical contacting member in a second direction; and (3) alternating the translating in the first and second directions until translating the micro-mechanical contacting member in the first direction does not deform the micro-mechanical member. In a related embodiment, the translation of the micro-mechanical contacting member in the first direction does not initially deform the micro-mechanical member, and the second direction includes a component that is directed substantially towards the substrate, such that alternately translating the micro-mechanical contacting member does eventually deform the micro-mechanical member.  
      Aspects of two or more of the methods described herein may also be combined in some embodiments within the scope of the present disclosure.  
      The foregoing has outlined features of several embodiments according to aspects of the present disclosure. Those skilled in the art should appreciate that they may readily use the present disclosure as a basis for designing or modifying other processes and structures for carrying out the same purposes and/or achieving the same advantages of the embodiments introduced herein. Those skilled in the art should also realize that such equivalent constructions do not depart from the spirit and scope of the present disclosure, and that they may make various changes, substitutions and alterations herein without departing from the spirit and scope of the present disclosure.