Planning method of asymmetric variable acceleration based on optimal distribution in the time-domain of main frequency energy

A technology of optimal distribution and variable acceleration, applied in design optimization/simulation, image data processing, special data processing applications, etc.

Active Publication Date: 2014-08-27
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0007] The present invention proposes an asymmetric variable acceleration planning method based on the optimal distribution of main frequency energy in the time domain, which solves the problem of motion planning of high-speed and high-acceleration mechanisms that have nonlinear effects such as large flexible deformation and precise positioning requirements, and can achieve high-acceleration Precise positioning and smooth position / force switching under extreme conditions

Method used

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  • Planning method of asymmetric variable acceleration based on optimal distribution in the time-domain of main frequency energy
  • Planning method of asymmetric variable acceleration based on optimal distribution in the time-domain of main frequency energy
  • Planning method of asymmetric variable acceleration based on optimal distribution in the time-domain of main frequency energy

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Embodiment example

[0092] The pendulum-type welding head mechanism of the high-speed die-bonding machine needs to move from the crystal-taking position to the die-bonding position at high speed, and must ensure the positioning accuracy of ±1μm, requiring the shortest positioning time. Optimized according to the symmetrical S-shaped acceleration curve, the shortest positioning time obtained is 23.33ms (the driving time is 17.90ms, the maximum residual amplitude is 2.14μm, and the inertial energy decay time is 5.43ms). Through the asymmetric variable acceleration planning proposed in this project, further optimization is carried out. The optimization process is shown in Table 1. Under the same positioning accuracy of ±1μm, the positioning time is 16.36ms (the driving time is 12.90ms, and the maximum residual amplitude is 1.03μm. The decay time of inertial energy is 3.46ms), which is 30% shorter than before (the decay time of inertial energy is reduced by 36%).

[0093]

[0094] Table 1 Optimiza...

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Abstract

The invention relates to technology field of mechanical engineering and mathematics research, specifically relates to a planning method of asymmetric variable acceleration based on optimal distribution in the time-domain of main frequency energy, and the method includes: solving positioning course of nonlinear finite element model including the free kinematics and parametric motion function, after execution stopping judging the amplitude of the drive end whether or not meets the positioning accuracy, if meet, the amplitude energy time is decayed,if not meet ,it will go on solving; judging the target response time whether or not it is a minimal value,if the time is a minimal value, determining to set the motion parameters as the optimal parameter ,if the time is not a minimal value,calculating the motion parameters of step and gradient and reset motion parameters to be solve. The invention by the above method solves the motion planning question of nonlinear effect and high speed and high acceleration under precision positioning requirements. The precision positioning and position / force smooth handoff in high speed condition can be achieved. It also adapts to motion planning question of performance administration to the traditional solving method.

Description

technical field [0001] The invention relates to the technical field of mechanical engineering and mathematics research, in particular to an asymmetric variable acceleration motion planning method based on the optimal time domain distribution of main frequency energy. Background technique [0002] A mechanism with a motion acceleration of more than 10g is considered a "soft body", and its dynamic characteristics are quite different from general rigid body mechanisms. The above-mentioned high-acceleration actuators have a great influence of inertial energy, and the residual vibration is very large under high-acceleration conditions such as high-speed start-stop, which causes the elastic vibration energy of the mechanism to need a long decay time to meet the needs of high-precision positioning. In order to ensure the precise positioning requirements of high-speed and high-acceleration actuators, the common solution is to design a smooth acceleration motion planning curve to red...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/00G06F30/23G06F2111/04G06T17/10
Inventor 陈新白有盾杨志军高健杨海东王梦陈新度
Owner GUANGDONG UNIV OF TECH
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