UVW对位平台运动轨迹规划及实验
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摘要
为提高触摸屏机械对位平台的贴合精度和效率,对直线电机UVW共平面机械对位平台进行机构运动学分析。运用几何法求解机构位置反解,为平台定位提供理论计算依据;通过MATLAB软件求解机构位置正解,以此为理论依据,仿真求得平台工作空间大小;研究最短轨迹和最小时间轨迹规划算法,并通过实验验证了平台极限轨迹和工作空间与仿真结果一致。以视觉检测平台对不同轨迹规划的速度和时间进行实验验证,证明了该轨迹规划对于提高触摸屏机械对位平台贴合性能的合理性和可行性。
To improve accuracy and efficiency of current touch screen mechanical alignment platform, the kinematic analysis for the linear motor UVW coplanar mechanical alignment platform was carried out. The geometric method was used to solve the inverse kinematics of the mechanism, which provided a theoretical basis for the platform positioning. Through MATLAB software, the positive position of the mechanism was solve. On this basis, the workspace size of the platform was simulated, and the shortest path and minimum time trajectory planning algorithms were studied. The results show that the limit trajectory and workspace of the platform are consistent with the simulation results. The speed and time of different trajectory planning methods were tested and verified by visual inspection platform. It is proved that the trajectory planning is reasonable and feasible to improve the bonding performance of touch screen mechanical contraposition platform.
To improve accuracy and efficiency of current touch screen mechanical alignment platform, the kinematic analysis for the linear motor UVW coplanar mechanical alignment platform was carried out. The geometric method was used to solve the inverse kinematics of the mechanism, which provided a theoretical basis for the platform positioning. Through MATLAB software, the positive position of the mechanism was solve. On this basis, the workspace size of the platform was simulated, and the shortest path and minimum time trajectory planning algorithms were studied. The results show that the limit trajectory and workspace of the platform are consistent with the simulation results. The speed and time of different trajectory planning methods were tested and verified by visual inspection platform. It is proved that the trajectory planning is reasonable and feasible to improve the bonding performance of touch screen mechanical contraposition platform.
引文
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[3] 杨青.UVW工作平台及其在精密对位系统中的应用[D].上海:上海大学,2007.
[4] 刘玉国.基于机器视觉精密对准系统研究[D].上海:上海大学,2007.
[5] ZOU D P,YANG Z J,XIAO T B,et al.Research on Key Technologies of UVW Platform for the Double Aligning and Turning Plate Laminating Machine[C]//Proceeding of CISP-BMEI,2017.
[6] 胡少兴.双对位翻版贴合机的关键技术研究与开发[D].广州:广东工业大学,2016.
[7] 武忠祥.UVW平台及其视觉对准系统研究[D].上海:上海大学,2008.
[8] 邢泽惠.触摸屏装配中的全自动对位机开发[D].广州:华南理工大学,2016.
[9] 高晓雪.3-PPR平面并联机构的运动学与动力学性能研究[D].太原:中北大学,2014.
[10] 文康.液压机械手运动轨迹规划与控制研究[D].西安:西安建筑科技大学,2014.
[11] 许慎华.并联机器人最小时间运动规划[D].哈尔滨:哈尔滨工业大学,2014.