UVW platform motor angle chain coordinate correction method and device, electronic equipment and storage medium

Abstract

The invention discloses a UVW platform motor angle chain coordinate correction method and device, electronic equipment and a storage medium. According to the method, through modeling of a'rotation + translation 'motion model based on a moving point pair, a motion model of a UVW platform is established through correction kinematics analysis of the UVW platform so as to deduce a function relationship between three motor angle chain coordinates and a platform feed amount; substituting a piece of sampling data into the deduced function relation to establish a mathematical model of the solvable motor angle chain coordinate, selecting a plurality of pieces of reasonable sampling data insensitive to errors to construct an overdetermined equation set, solving the motor angle chain coordinate by adopting a least square method, and replacing the original manually measured motor angle chain coordinate, so as to achieve the purpose of solving the motor angle chain coordinate. And the alignment precision of the UVW platform is further improved.

Description

Technical Field

[0001] The present invention mainly relates to the field of mechanical engineering, and particularly to a method, device, electronic device and storage medium for correcting the angular chain coordinates of a motor of a UVW platform. Background Art

[0002] Surface Mounted Technology (SMT) is an assembly technology that mounts electronic components on the surface of a printed circuit board (PCB). With the continuous development of informatization, SMT has been widely applied in various industries. At the same time, with the development of electronic products towards being portable, compact and ultra-thin, the industrial community has higher and higher requirements for SMT technology.

[0003] The alignment operation is a front-line step in SMT and plays an important role in improving the quality of the solder paste printing process and ensuring the printing accuracy and stability of the solder paste printing equipment. The alignment technology is to align the PCB board with the stencil (the solder joint position template, where the hollow part is the component solder joint position), and then spray the solder paste all around on the stencil. In this way, the solder paste can be printed onto the solder joint positions of the PCB board through the hollow parts of the stencil, and the solder paste in other parts is scraped off by a squeegee.

[0004] The UVW parallel platform is a platform alignment system of an advanced solder paste printer. The UVW platform completes the translation and rotation of the alignment platform through the mutual cooperation of three motors. The PCB board is fixed on the UVW platform through a transfer guide rail. The movement of the UVW platform drives the guide rail to move, and thus the PCB board also moves accordingly.

[0005] The UVW platform is a 3-degree-of-freedom micro-motion high-precision platform. This platform is a motion platform controlled by three axes, namely the U-axis, the V-axis, and the W-axis, so it is called the UVW platform. Among them, the U-axis corresponds to the Y1 motor, the V-axis corresponds to the Y2 motor, and the W-axis corresponds to the X motor. The structures of the three axes of the UVW platform are the same. Taking the W-direction structure as an example, first, the X motor is connected to the lead screw through an angular chain, and the lead screw nut on the lead screw drives the platform to achieve X-axis translation. Similarly, the Y1 and Y2 motors moving synchronously can achieve Y-axis translation of the platform. If the X, Y1, and Y2 motors work together, the rotation of the platform can be achieved.

[0006] In order to accurately position the stencil and the PCB board, Mark points are set on both the stencil and the PCB board. When Mark point 1 and Mark point 2 on the PCB board coincide with the corresponding Mark point 1 and Mark point 2 on the stencil respectively, all the corresponding holes on the PCB and the stencil are aligned, which is regarded as successful alignment. When the PCB board enters the UVW platform through the platform track, the visual system identifies the position difference between the two Mark points on the PCB board and the two Mark points on the stencil, confirms the required rotation amount and translation amount for alignment, and then controls the movement of three motors, namely X, Y1, and Y2, to complete the corresponding rotation and translation movements.

[0007] The motor takes the angular chain as the starting point and drives the movement of the UVW platform by pushing or contracting a specified distance (i.e., the feed amount). Therefore, the accuracy of the motor angular chain coordinates is crucial for ensuring the alignment accuracy. However, due to structural limitations, the UVW platforms of some solder paste printers can only obtain the motor angular chain coordinates manually, and it is difficult to guarantee the accuracy. Considering the high cost of structural upgrading, calculating the motor angular chain coordinates by software becomes a feasible solution.

[0008] The present invention designs a method for correcting the motor angular chain coordinates of the UVW platform. By modeling the "rotation + translation" motion model based on moving point pairs, analyzing the kinematics of the UVW platform for correction to establish the motion model of the UVW platform to deduce the functional relationship between the three motor angular chain coordinates and the platform feed amount, substituting the deduced functional relationship into a sampling data to establish a solvable mathematical model of the motor angular chain coordinates, selecting multiple reasonable and error-insensitive sampling data to construct an overdetermined system of equations, and using the least squares method to solve the motor angular chain coordinates and replace its original manually measured motor angular chain coordinates to further improve the alignment accuracy of the UVW platform. Summary of the Invention

[0009] Based on this, it is necessary to provide a method, device, electronic device, and storage medium for correcting the motor angular chain coordinates of the UVW platform for existing problems.

[0010] In a first aspect, an embodiment of the present application provides a method for correcting the motor angular chain coordinates of the UVW platform, which is characterized by including:

[0011] Step S1, establish a "rotation + translation" motion model based on moving point pairs, where the rotation and translation motions of the UVW platform are modeled, the moving point pair information is substituted, the rotation radian t is solved, and the linear relationship between the translation amount and the rotation center under four motion sequences is deduced;

[0012] Step S2, perform kinematic analysis on the UVW platform based on the established motion model, establish the motion model of the UVW platform, and deduce the functional relationship between the three motor angular chain coordinates and the platform feed amount;

[0013] Step S3, using the functional relationship derived in step S2, substituting a sampling data, and establishing a mathematical model that can solve the coordinates of the three motor angle chains;

[0014] Step S4, select multiple reasonable and error-insensitive sampling data, construct an overdetermined equation group, and use the least squares method to solve and obtain the motor angle chain coordinates after correction.

[0015] Preferably, the "rotation + translation" motion model includes:

[0016] Assume that there is a point on the UVW platform, denoted as point P(x p ,y p ), point P first revolves around point O'(x o' ,y o' ) rotates t radians and moves to P”(x p” ,y p” ), and then translate s horizontally and vertically respectively x and y After reaching point P'(x p' ,y p' ), point O' is called the center of rotation, s x It is called the horizontal translation, s y is called the vertical translation, where

[0017]

[0018] Combining (1) and (2), we have:

[0019]

[0020] Among them, (P, P') is called a moving point pair.

[0021] Preferably, the calculation of the rotation t radians includes:

[0022] Sample two points on the UVW platform, denoted as A(x A ,y A ), C(x C ,y C ), A and C are translated and rotated along with the UVW platform and move to A'(x A' ,y A' ), C'(x C' ,y C' ), where the rotational motion is around the point O'(x o' ,y o' ) rotates by t radians, and the translational motion is s translations in the horizontal and vertical directions respectively. x and y; Thus, substituting the moving point pairs (A, A') and (C, C') into (3), we get:

[0023]

[0024] Subtracting the first and second equations of (5) from the first and second equations of (4) respectively, we obtain:

[0025]

[0026] Equation (6) contains only one unknown t. With the coordinate change information of only two pairs of moving pairs, the rotation radian of the UVW platform can be calculated.

[0027] Preferably, the motion model includes four moving sequences, including:

[0028] (1) Rotate first and then translate;

[0029] In this case, the horizontal translation amount s x1 and the vertical translation amount s y1 have a linear relationship with x o' , y o' as follows:

[0030]

[0031] (2) Translate first and then rotate;

[0032] In this case, P makes a horizontal translation s x2 and a vertical translation s y2 to obtain P'', and then rotates by t radians around point O' to P'. We have:

[0033]

[0034] After combining (8) and (9), in this case, the horizontal translation s x2 and the vertical translation amount s y2 have a linear relationship with x o' , y o' as follows:

[0035]

[0036] (3) The two motion sequences of "first make a horizontal translation, then rotate, and then make a vertical translation" and "first make a vertical translation, then rotate, and then make a horizontal translation", after being substituted into the subsequent functional relationship between the motor angular chain coordinates and the platform feed amount, the results are included in the motion sequences of "rotate first and then translate" and "translate first and then rotate".

[0037] Preferably, the derivation method of the functional relationship between the three motor angular chain coordinates and the platform feed amount includes:

[0038] Let the coordinates of the X, Y1, and Y2 motor angle chains be X(x X , y X ), The feed rates of the X and Y 1 , Y 2 motors collected on the UVW platform are denoted as ΔX and ΔY 1 , ΔY 2 ; Since the horizontal distance between the Y 1 motor angle chain and the Y 2 motor angle chain is fixed, with a length of L, as long as the coordinates of the Y 1 motor angle chain are known, the coordinates of the Y 2 motor angle chain can be obtained;

[0039] The method for calculating the feed rate given the angle chain coordinates and the rotation radian is as follows:

[0040] According to the rotational motion characteristics of UVW, the feed rates of X and Y 1 , Y 2 required to rotate the platform around O' by t radians are X moving , Y 1moving , Y 2moving , then, there are:

[0041]

[0042] (12) and (13) are linearly related, so only (11) and (12) are used in the subsequent part to further list the equation;

[0043] Independence of the feed rate movement order: On the UVW platform, to move from P(x p , y p ) to P'(x p' , y p' ), there are two x1 movement orders, namely rotating first and then translating, and translating first and then rotating. The feed rates of the three motors required to achieve the movement in these two orders are the same;

[0044] For the case of rotating first and then translating, the feed rates X moving_1 , Y 1moving_1 required to achieve the rotational part of the movement are calculated as follows:

[0045]

[0046]

[0047] In this movement order, according to (7), the horizontal translation amount is s x1 and the vertical translation amount is sy1 .

[0048] Since the X and Y collected on the UVW platform 1 The feed rates ΔX and ΔY of the motor 1 , which includes rotational and translational parts, so there are:

[0049]

[0050] For the case of first translation and then rotation, according to (10), the horizontal translation amount is s x2 and the vertical translation amount is s y2 ; After translation, since the feed rates for realizing the translation are given, the angular chain positions of the X motor and the Y 1 motor angular chain have changed, there are:

[0051]

[0052] After the coordinate transformation of (15) and (16), the feed rates X required to realize the rotational part of the motion moving_2 and Y 1moving_2 are calculated as follows:

[0053]

[0054] According to the independence of the feed rate with respect to the motion sequence, the feed rates required for first translation and then rotation are also ΔX and ΔY 1 , so there are:

[0055]

[0056] The representations of the feed rates in the two coordinate systems include the following:

[0057] Assume that under the action of ΔX and ΔY 1 and ΔY 2 , the UVW platform only rotates by t radians around O'(x o' , y o' ). Draw a line parallel to Y 1 and Y 2 , draw a perpendicular line through X, and the intersection point is O. Denote the coordinate system XOY 1 as the actual coordinate system. Take O' as the origin to make a virtual coordinate system X'O'Y 1 ', project X and Y 1 , Y 2 onto the virtual coordinate system X'O'Y 1 ', and obtain three virtual points X', Y 1 ', Y 2 '. Since the coordinates of X are X(x X , y X ), Y 1The coordinates of The coordinates of O' are (x O' , y O' ). Therefore, the coordinates of X' are (x O' , y X ), and Y 1 ' is O is

[0058] Taking the virtual points X', Y 1 ', Y 2 ' as the motor angular chain positions, inputting the feed amounts ΔX', ΔY 1 ' and ΔY 2 ' also causes the UVW platform to rotate by t radians around O'(x o' , y o' ). According to the feed amount calculation in the orthogonal alignment method, ΔX', ΔY 1 ' and ΔY 2 ' are calculated as follows:

[0059]

[0060] Since [ΔX, ΔY 1 , ΔY 2 and [ΔX', ΔY 1 ', ΔY 2 '] can both cause the UVW platform to rotate by t radians only around O'(x o' , y o' ), so there is:

[0061]

[0062] To ensure that ΔX and ΔX' are vectors with the positive direction to the right horizontally, and ΔY 1 , ΔY 2 , ΔY 1 ' and ΔY 2 ' are vectors with the positive direction downward vertically, then there is the relationship in (19); ΔX, ΔY 1 and ΔY 2 include the feed amounts of rotation and translation; for the case of rotation first and then translation, according to (7), the horizontal translation amount is s x1 and the vertical translation amount is s y1 . According to (18) and (19), there is:

[0063]

[0064] For the other three motion sequences, it can also be based on the coordinate system relationship model.

[0065] Preferably, the mathematical model solving method for the said one sampling data is as follows:

[0066] Call the following row vector a piece of data sampled on the UVW platform, D i = [A i , A' i , C i , C' i , (ΔX) i , (ΔY 1 ) i , (ΔY 2 ) i , where i is the sequence number of a movement of the UVW platform. In this movement, point A and point C move to A' and C' respectively, and the three motor feed amounts required to achieve this movement are ΔX, ΔY 1 , ΔY 2 ; According to Equation (6), use two pairs of moving point pairs to solve for the rotation radian t; use one of the pairs of moving point pairs or the midpoints of the two pairs of moving point pairs to determine the horizontal translation s x and the vertical translation amount s y related to the rotation center x o' , y o' 's linear relationship, use D i and the determined linear relationship, combine Equations (14), (17), (20) to obtain a system of equations containing 6 linear equations, which can be expressed as: M(D i )S T = N(D i ), where M(D i ), N(D i ) are the coefficient matrix and the right matrix of the system of linear equations constructed using the sampled data D i respectively, S is the unknown quantity.

[0067] Preferably, the mathematical model solving method based on multiple sampled data is as follows:

[0068] Select a set of sampled data that is insensitive to errors and construct the following overdetermined system of equations:

[0069] H(T)S T = W(T);

[0070] where T = [D 1 , D 2 ,..., D g is a set of g sampled data collected, H(T) = [M 1 (D 2 ); M 2 (D 2 );...; M g (D g)] is the coefficient matrix of the overdetermined equation system after substituting T, and W(T) = [N 1 (D 2 );N 2 (D 2 );...;N g (D g )] is the right matrix of the overdetermined equation system after substituting T;

[0071] Using the least squares method to solve the overdetermined equation system, the true angular chain coordinates of the three motors are obtained.

[0072] In a second aspect, an embodiment of the present application provides a device for correcting the angular chain coordinates of motors on a UVW platform, which is characterized by including:

[0073] A building unit, configured to build a "rotation + translation" motion model based on moving point pairs, where the rotation and translation motions of the UVW platform are modeled, the moving point pair information is substituted, the rotation radian t is solved, and the linear relationship between the translation amounts related to the rotation center under four motion sequences is deduced;

[0074] A kinematic analysis unit, configured to perform kinematic analysis on the UVW platform based on the established motion model, build a motion model of the UVW platform, and deduce the functional relationship between the angular chain coordinates of the three motors and the platform feed;

[0075] A substitution unit, configured to use the functional relationship deduced in step S2, substitute a piece of sampling data, and build a mathematical model that can solve the angular chain coordinates of the three motors;

[0076] A correction unit, configured to select multiple reasonable sampling data that are insensitive to errors, construct an overdetermined equation system, and use the least squares method to solve to obtain the corrected angular chain coordinates of the motors.

[0077] In a third aspect, an embodiment of the present application provides an electronic device, which is characterized by including:

[0078] A processor;

[0079] A memory for storing the executable instructions that can be executed by the processor;

[0080] The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the above method steps.

[0081] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which is characterized in that the computer-readable storage medium stores a computer program, and the computer program is used to execute the above method.

[0082] Compared with the prior art, the present invention has the following advantages: (1) It realizes the leap from rough engineering deviation correction to precise theoretical deviation correction in calibrating the motor angular chain coordinates; (2) In theory, only one sampling data is required to calculate the true coordinates of the three motor angular chains, and these processes can be integrated into the program of the UVW platform in software to achieve automation, improving efficiency and automation; (3) Acting on the preprocessing stage of the UVW platform alignment, it can improve the alignment accuracy without affecting the subsequent operation mode of the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] By referring to the following drawings, the exemplary embodiments of the present invention can be more fully understood. The drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings, the same reference numerals generally represent the same components or steps.

[0084] Figure 1 It is a flowchart of a method for correcting the motor angular chain coordinates of a UVW platform provided according to an exemplary embodiment of the present application;

[0085] Figure 2 It is a schematic diagram of a UVW platform model provided according to an exemplary embodiment of the present application;

[0086] Figure 3 It is a schematic diagram of a device for correcting the motor angular chain coordinates of a UVW platform provided according to an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0087] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0088] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0089] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0090] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0091] The embodiment of the present application provides a method for correcting the angular chain coordinates of the UVW platform motor. The following is an explanation with reference to the accompanying drawings.

[0092] Refer to Figure 1 , which shows a method for correcting the angular chain coordinates of the UVW platform motor provided by some embodiments of the present application. As Figure 1 shown, the method may include the following contents:

[0093] Step S1: Establish a "rotation + translation" motion model based on the moving point pair. Among them, model the rotation and translation motions of the UVW platform, substitute the information of the moving point pair, solve the rotation radian t, and deduce the linear relationship between the translation amounts related to the rotation center under four motion sequences;

[0094] Step S2: Conduct kinematic analysis on the UVW platform based on the established motion model, establish the motion model of the UVW platform, and deduce the functional relationship between the angular chain coordinates of the three motors and the platform feed;

[0095] Step S3: Utilize the functional relationship deduced in Step S2, substitute a sampling data, and establish a mathematical model that can solve the angular chain coordinates of the three motors;

[0096] Step S4: Select multiple reasonable sampling data that are insensitive to errors, construct an overdetermined system of equations, and use the least squares method to solve to obtain the corrected angular chain coordinates of the motors.

[0097] Preferably, the "rotation + translation" motion model includes:

[0098] Assume that there is a point on the UVW platform, denoted as point P(x p , y p ). Point P first rotates by t radians around point O'(x o' , y o' ) and moves to P”(x p” , y p” ), and then translates s xand s y and then reaches point P'(x p' , y p' ). Point O' is called the rotation center, and s x is called the horizontal translation amount, and s y is called the vertical translation amount. Among them,

[0099]

[0100] By combining (1) and (2), we have:

[0101]

[0102] Among them, (P, P') is called the moving point pair.

[0103] Preferably, the calculation of rotating by t radians includes:

[0104] Sample two points on the UVW platform, denoted as A(x A , y A ), C(x C , y C ). Both A and C have undergone translation and rotation movements along with the UVW platform and move to A'(x A' , y A' ), C'(x C' , y C' ). Among them, the rotation movement is to rotate by t radians around point O'(x o' , y o' ), and the translation movement is to translate s x and s y in the horizontal and vertical directions respectively. Therefore, substituting the moving point pairs (A, A') and (C, C') into (3), we have:

[0105]

[0106] Subtracting the first and second equations of formula (4) from the first and second equations of formula (5) respectively, we get:

[0107]

[0108] Formula (6) contains only one unknown t. Only the coordinate change information of two pairs of moving pairs is required to calculate the rotation radian of the UVW platform.

[0109] Preferably, the motion model includes four moving sequences, including:

[0110] (1) Rotate first and then translate;

[0111] In this case, the horizontal translation amount s x1 and the vertical translation amount s y1Regarding x o' , y o' The linear relationship is as follows:

[0112]

[0113] (2) First translate, then rotate;

[0114] In this case, P makes a horizontal translation of s x2 and a vertical translation of s y2 to obtain P'', and then rotates by t radians around point O' to P', there is:

[0115]

[0116] After combining (8) and (9), the horizontal translation s x2 and the vertical translation amount s y2 Regarding x o' , y o' The linear relationship is as follows:

[0117]

[0118] (3) For the two motion sequences of "first make a horizontal translation, then rotate, and then make a vertical translation" and "first make a vertical translation, then rotate, and then make a horizontal translation", after substituting them into the subsequent functional relationship between the motor angular chain coordinates and the platform feed amount, the results are included in the motion sequences of "first rotate, then make a translation" and "first make a translation, then rotate".

[0119] Preferably, the method for deriving the functional relationship between the three motor angular chain coordinates and the platform feed amount includes:

[0120] The schematic diagram of the UVW platform model is as Figure 2 shown. Let the coordinates of the X, Y1, and Y2 motor angular chains be X(x X , y X ), The feed amounts of the X and Y 1 , Y 2 motors collected on the UVW platform are respectively denoted as ΔX and ΔY 1 , ΔY 2 ; Since the horizontal distance between the Y 1 motor angular chain and the Y 2 motor angular chain is fixed, with a length of L, as long as the coordinates of the Y 1 motor angular chain are known, the coordinates of the Y 2 motor angular chain can be obtained;

[0121] The method for calculating the feed amount given the angular chain coordinates and the rotation radian is as follows:

[0122] According to the rotational motion characteristics of UVW, the feed amounts of X and Y required for the platform to rotate around O' by t radians are as follows: 1 , Y 2 The feed amounts of the positions are X moving , Y 1moving , Y 2moving , then:

[0123]

[0124] (12) and (13) are linearly dependent, so only (11) and (12) are used in the subsequent part to further list the equation;

[0125] Independence of the motion sequence of the feed amount: On the UVW platform, to achieve the movement from P(x p , y p ) to P'(x p' , y p' ), there are two movement sequences, namely rotating first and then translating, and translating first and then rotating. The feed amounts of the three motors required to achieve the movement in these two sequences are the same; x1 For the case of rotating first and then translating, the feed amounts X

[0126] required to achieve the rotational part of the movement are as follows: moving_1 , Y 1moving_1 The calculation is as follows:

[0127]

[0128] In this movement sequence, according to (7), the horizontal translation amount is s x1 and the vertical translation amount is s y1 ;

[0129] Since the feed amounts ΔX and ΔY 1 of the X and Y 1 motors collected on the UVW platform may include both rotational and translational parts, so:

[0130]

[0131] For the case of translating first and then rotating, according to (10), the horizontal translation amount is s x2 and the vertical translation amount is s y2 ; After translation, since the feed amounts for achieving translation are given, the angular chain positions of the X motor and Y 1 motor change, so:

[0132]

[0133] After the coordinate transformation of (15) and (16), the feed amount X required to achieve the rotational part of the movement ismoving_2 With Y 1moving_2 The calculation is as follows:

[0134]

[0135] According to the independence of the movement sequence of the feed rate, the feed rates required for translation first and then rotation are also ΔX and ΔY 1 , so there is:

[0136]

[0137] The representations of the feed rate in the two coordinate systems include the following:

[0138] Assume that under the action of ΔX and ΔY 1 and ΔY 2 , the UVW platform only rotates by t radians around O'(x o' , y o' ). Draw a line parallel to Y 1 and Y 2 , draw a perpendicular line through X, and the intersection point is O. The coordinate system XOY 1 is called the actual coordinate system. Take O' as the origin to make a virtual coordinate system X'O'Y 1 ', project X and Y 1 , Y 2 onto the virtual coordinate system X'O'Y 1 ', and obtain three virtual points X', Y 1 ', Y 2 '. Since the coordinate of X is X(x X , y X ), and the coordinate of Y 1 is The coordinate of O' is (x O' , y O' ), so the coordinate of X' is (x O' , y X ), and Y 1 ' is O is

[0139] Taking the virtual points X', Y 1 ', Y 2 ' as the motor angular chain positions, input the feed rates ΔX', ΔY 1 ' and ΔY 2 ', and it also makes the UVW platform rotate by t radians around O'(x o' , y o' ). According to the feed rate calculation in the orthogonal alignment method, ΔX', ΔY 1 ' and ΔY 2 ' are calculated as follows:

[0140]

[0141] Since [ΔX, ΔY 1 , ΔY 2 and [ΔX', ΔY 1 ', ΔY 2 '] can both make the UVW platform rotate by t radians only around O'(x o' , y o' ), so there is:

[0142]

[0143] Ensure that ΔX and ΔX' are vectors with the positive direction to the right horizontally, and ΔY 1 , ΔY 2 , ΔY 1 ', and ΔY 2 ' are vectors with the positive direction vertically downward, then there is the relationship in (19); ΔX, ΔY 1 and ΔY 2 include the feed amounts of rotation and translation. For the case of rotation first and then translation, according to (7), the horizontal translation amount and the vertical translation amount are s x1 , s y1 . According to (18) and (19), there is:

[0144]

[0145] For the other three motion sequences, the coordinate system relationship model can also be used.

[0146] Preferably, the mathematical model solving method for a piece of sampling data is as follows:

[0147] Call the following row vector a piece of data sampled on the UVW platform, D i = [A i , A' i , C i , C' i , (ΔX) i , (ΔY 1 ) i , (ΔY 2 ) i , where i is the serial number of a motion of the UVW platform. In this motion, points A and C move to A' and C' respectively, and the three motor feed amounts required to achieve this motion are ΔX, ΔY 1 , ΔY 2 ; according to formula (6), use two pairs of moving point pairs to solve for the rotation radian t; use the midpoint of one of the pairs of moving point pairs or both pairs of moving point pairs to determine the horizontal translation s x and the vertical translation amount s yRegarding the rotation center x o' , y o' 's linear relationship, using D i and the determined linear relationship, combining equations (14), (17), and (20) gives a system of equations containing 6 linear equations, which can be expressed as: M(D i )S T = N(D i ), where M(D i ), N(D i ) are respectively the coefficient matrix and the right - hand matrix of the linear system of equations constructed using the sampling data D i , and S is the unknown quantity.

[0148] Preferably, the method for solving the mathematical model based on multiple sampling data is as follows:

[0149] Select a sampling data set that is insensitive to errors and construct the following over - determined system of equations:

[0150] H(T)S T = W(T);

[0151] where T = [D 1 , D 2 ,..., D g is the set of g sampled data collected, H(T) = [M 1 (D 2 ); M 2 (D 2 );...; M g (D g )] is the coefficient matrix of the over - determined system of equations after substituting T, and W(T) = [N 1 (D 2 ); N 2 (D 2 );...; N g (D g )] is the right - hand matrix of the over - determined system of equations after substituting T;

[0152] Solve this over - determined system of equations using the least - squares method to obtain the true angular chain coordinates of the three motors.

[0153] This application has proven its feasibility through experiments, simulations, and usage. Experimental platform: A UVW parallel three - axis platform with a rotation radian range of [-0.028, 0.028]. The specific verification method is as follows:

[0154] 1) Calculate the motor angular chain coordinates. Based on the established model for solving the motor angular chain coordinates, using the sampling data sets collected under different rotation radian ranges, list the corresponding overdetermined equations, and use the least squares method to solve the three motor angular chain coordinates under different sampling data sets. This experiment uses the sampling data sets listed in Table 1. One sampling data set can obtain a set of motor angular chain coordinates. In each sampling data set, a sampling data is collected every 0.002 radians.

[0155] Table 1: List of different sampling data sets

[0156] Sampling data set Radian range Full radian set [-0.028，0.028] Small radian set [-0.012，-0.012] Large radian set [-0.028，-0.02]∪[0.02,0.028] Positive radian set [0，0.012] Negative radian set [-0.012，0]

[0157] 2) Verify the actual effect of each set of motor angular chain coordinates and the manually calibrated motor coordinates on the UVW platform. Before alignment, under the conditions that the PCB board and the stencil have no radian (or a small radian), a large positive radian, and a large negative radian, 10 alignments are performed respectively and the alignment error of each time is recorded. The alignment error is calculated as follows:

[0158]

[0159] where (x p , y p ) is the center of the mark point of the PCB board after alignment, (x s , y s ) is the center of the mark point of the stencil, and x error , y error are the errors of this alignment in the horizontal and vertical directions respectively.

[0160] 3) Calculate the repeated alignment accuracy of each set of motor angular chain coordinates and the manually calibrated motor coordinates.

[0161] The repeated alignment error is calculated as follows:

[0162]

[0163] where, are the average alignment errors in the horizontal direction under the three conditions that the PCB board and the stencil have no radian (or a small radian), a large positive radian, and a large negative radian respectively, are the average alignment errors in the vertical direction under these three conditions respectively. x R_error , y R_error are the errors of this set of motor angular chain coordinates in the horizontal and vertical directions respectively.

[0164] 4) Compare the repeated alignment accuracy between the motor angular chain coordinates of each group and the manually calibrated motor coordinates. Regardless of the pre-alignment postures of the PCB board and the stencil (before alignment, the PCB board and the stencil have no (or small) curvature, large positive curvature, or large negative curvature), if the motor angular chain coordinates are more accurate, then the fluctuation range of the alignment error is smaller, and even stabilizes near a certain value, which is more conducive to calculating the compensation value of the feed amount to make up for the existing alignment error. Therefore, the repeated alignment accuracy is used to test the actual effect of a set of motor angular chain coordinates.

[0165] Experimental results:

[0166] After comparison, the mark point information of the small curvature sampling data set has the best effect. For the manually calibrated coordinates: in the horizontal direction, the repeated error of mark 1 is 3.150000e-02, and the repeated error of mark 2 is 2.462500e-02. In the vertical direction, the repeated error of mark 1 is 9.000000e-03, and the repeated error of mark 2 is 1.112500e-02. For the calculated coordinates: in the horizontal direction, the repeated error of mark 1 is 1.787500e-02, and the repeated error of mark 2 is 1.250000e-02. In the vertical direction, the repeated error of mark 2 is 9.250000e-03, and the repeated error of mark 2 is 1.137500e-02.

[0167] Compared with the manually calibrated motor angular chain coordinates, the alignment error of the calculated coordinates in the horizontal direction has decreased significantly. Specifically, it has increased by 43% on mark 1 and 49% on mark 2. In the vertical direction, the alignment error has not decreased significantly, but basically maintains the original alignment accuracy. Therefore, the alignment error of the calculated coordinates is generally smaller than that of the manually calibrated coordinates.

[0168] The following gives the specific engineering implementation steps for solving the true coordinates of the three motor angular chains of X, Y 1 , Y 2

[0169] a) Input: Define the rotation range θ ∈ [θ min , θ max , and the collected radian interval α; calculate the number of samples N = (θ max -θ min ) % α; determine the theoretical rotation radian θ i of each sampling data, where i ∈ [1, N] and i ∈ Z.

[0170] b) Data collection:

[0171] Initialize the sampling data set D = [];​

[0172] For each sample D i Perform the following operations: Using the orthogonal alignment method, control the UVW platform to rotate by a theoretical radian θ i ; Record the information of the theoretical rotation radian, two moving point pairs, and three motor feed amounts into D i , that is, D i = [θ i , A i , A' i , C i , C' i , (ΔX) i , (ΔY 1 ) i , (ΔY 2 ) i ; D = D ∪ D i .

[0173] c) Construct an overdetermined system of equations:

[0174] T = [], H = [], W = []; Set the coordinates of the actual rotation center, X, and Y 1 as the unknowns S of the system of equations, that is

[0175] For each sample D i Perform the following operations: Solve for the actual rotation radian t according to (6); Take the midpoint of A and C as B and the midpoint of A' and C' as B'; Use the moving point pair (B, B'), according to (7), determine the linear relationship between the translation amount and the actual rotation center under the "rotate first and then translate" motion, substitute D i and this linear relationship into Equation (14) to obtain Linear Equation 1 - 2; Use the moving point pair (B, B'), according to (10), determine the linear relationship between the translation amount and the actual rotation center under the "rotate first and then translate" motion, substitute D i and this linear relationship into Equation (14) to obtain Linear Equation 3 - 4; Use the moving point pair (B, B'), according to (7), determine the linear relationship between the translation amount and the actual rotation center under the "rotate first and then translate" motion, substitute D i and this linear relationship into Equation (20) to obtain Linear Equation 5 - 6; Equations 1 - 6 form a system of linear equations, and organize the coefficient matrix M i (D i ) and the right - hand matrix N i (D i ); T = T ∪ D i , H = H ∪ M i , W = W ∪ N i .

[0176] d) Output: Solve the overdetermined system of equations H(T)S T = W(T); Output S to obtain X and Y 1 The true coordinates of the motor angle chain; According to the length of line segment Y 1 Y 2 to obtain the true coordinates of the motor angle chain based on the length of Y 2 The true coordinates of the motor angle chain.

[0177] Compared with the prior art, the present invention has the following advantages: (1) It realizes the leap from rough engineering deviation correction to precise theoretical deviation correction in calibrating the coordinates of the motor angle chain; (2) In theory, only one sampling data is required to calculate the true coordinates of the three motor angle chains, and these processes can be integrated into the program of the UVW platform through software to achieve automation, improving efficiency and automation; (3) It acts on the preprocessing stage of the UVW platform for alignment, does not affect the subsequent operation mode of the platform, but can improve the alignment accuracy.

[0178] In the above embodiment, a method is provided. Correspondingly, the present application also provides a device. The device provided by the embodiments of the present application can implement the above method, and the device can be implemented in a software, hardware, or a combination of software and hardware manner. For example, the device can include integrated or separate functional modules or units to execute the corresponding steps in the above methods.

[0179] In some embodiments of the embodiments of the present application, the device provided by the embodiments of the present application has the same inventive concept as the method provided by the foregoing embodiments of the present application and has the same beneficial effects.

[0180] As Figure 3 shown, the device 30 may include:

[0181] A building unit 301, configured to build a "rotation + translation" motion model based on moving point pairs, where the rotation and translation motions of the UVW platform are modeled, the moving point pair information is substituted, the rotation radian t is solved, and the linear relationship between the translation amounts related to the rotation center under four motion sequences is deduced;

[0182] A kinematic analysis unit 302, configured to perform kinematic analysis on the UVW platform based on the established motion model, establish the motion model of the UVW platform, and deduce the functional relationship between the coordinates of the three motor angle chains and the feed amount of the platform;

[0183] A substitution unit 303, configured to use the functional relationship deduced in step S2, substitute one sampling data, and establish a mathematical model that can solve the coordinates of the three motor angle chains;

[0184] A deviation correction unit 304, configured to select multiple reasonable sampling data that are insensitive to errors, construct an overdetermined system of equations, and use the least squares method to solve to obtain the deviation-corrected coordinates of the motor angle chain.

[0185] The embodiments of the present application also provide an electronic device corresponding to the method provided in the foregoing embodiments. The device may be an electronic device for a server, such as a server, including an independent server and a distributed server cluster, etc., to execute the above method; the electronic device may also be an electronic device for a client to execute the above method.

[0186] The electronic device includes: a processor, a memory, a bus, and a communication interface. The processor, the communication interface, and the memory are connected through the bus; a computer program that can run on the processor is stored in the memory, and when the processor runs the computer program, it executes the method of the foregoing embodiments of the present application.

[0187] Among them, the memory may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface (which may be wired or wireless), a communication connection is realized between the system network element and at least one other network element, and the Internet, a wide area network, a local area network, a metropolitan area network, etc. can be used.

[0188] The bus may be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. Among them, the memory is used to store the program, and after receiving the execution instruction, the processor executes the program. The method disclosed in any of the foregoing embodiments of the present application can be applied to the processor or implemented by the processor.

[0189] A processor may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor or the instructions in the form of software. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The electronic device provided in the embodiments of the present application and the method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run, or implemented by it.

[0190] The embodiments of the present application also provide a computer-readable medium corresponding to the method provided in the foregoing embodiments, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the foregoing method.

[0191] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other optical and magnetic storage media, which will not be elaborated here one by one.

[0192] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

[0193] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0194] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the couplings, direct couplings, or communication connections shown or discussed among each other may be through some communication interfaces. The indirect couplings or communication connections of the devices or units may be in electrical, mechanical, or other forms.

[0195] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0196] In addition, the functional units in various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0197] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, rather than to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of various embodiments of this application, and they should all be covered within the scope of the claims and the description of this application.

Claims

1. A UVW platform motor angle chain coordinate correction method, characterized in that: include: Step S1, establishing a "rotation + translation" motion model based on moving point pairs, wherein the rotation and translation motion of the UVW platform are modeled, the moving point pair information is substituted, the rotation radian t is solved, and the linear relationship between the translation amount and the rotation center under the four motion sequences is derived; Step S2, performing kinematic analysis on the UVW platform based on the established motion model, establishing the motion model of the UVW platform, and deriving the functional relationship between the coordinates of the three motor angular chains and the platform feed amount; Step S3, using the functional relationship derived in step S2, substituting a sampling data, and establishing a mathematical model that can solve the coordinates of the three motor angle chains; Step S4, select multiple reasonable and error-insensitive sampling data, construct an overdetermined equation group, and use the least squares method to solve and obtain the motor angle chain coordinates after correction.

2. The method according to claim 1, characterized in that The "rotation + translation" motion model includes: Assume that there is a point on the UVW platform, denoted as point P(x p ,y p ), point P first revolves around point O'(x o' ,y o' ) rotates t radians and moves to P”(x p” ,y p” ), and then translate s horizontally and vertically respectively x and y After reaching point P'(x p' ,y p' ), point O' is called the center of rotation, s x It is called the horizontal translation, s y is called the vertical translation, where Combining (1) and (2), we have: Among them, (P, P') is called a moving point pair.

3. The method according to claim 2, characterized in that The calculation of the rotation t radians includes: Sample two points on the UVW platform, denoted as A(x A ,y A ), C(x C ,y C ), A and C are translated and rotated along with the UVW platform and move to A'(x A' ,y A' ), C'(x C' ,y C' ), where the rotational motion is around the point O'(x o' ,y o' ) rotates by t radians, and the translational motion is s translations in the horizontal and vertical directions respectively. x and y ; So we substitute the moving point pair (A,A'), (C,C') into (3), and we have: The first and second equations of formula (4) are respectively subtracted from the first and second equations of formula (5) to obtain: Formula (6) contains only one unknown quantity t, and only requires the coordinate change information of two pairs of moving pairs to calculate the rotation arc of the UVW platform.

4. The method according to claim 3, characterized in that The motion model includes four movement sequences, including: (1) Rotate first, then translate; In this case, the horizontal translation s x1 and the vertical translation s y1 About x o' ,y o' The linear relationship is: (2) first translate, then rotate; In this case, P is horizontally translated by s x2 and vertical translation s y2 Get P", and then rotate t radians around point O' to P', we have: After combining (8) and (9), the horizontal translation s in this case is x2 and the vertical translation s y2 About x o ',y o The linear relationship of ' is: (3) The two motion sequences of "horizontal translation first, then rotation, and then vertical translation" and "vertical translation first, then rotation, and then horizontal translation" are substituted into the subsequent functional relationship between the motor angular chain coordinates and the platform feed amount. The results are included in the motion sequences of "rotation first, then translation" and "translation first, then rotation".

5. The method according to claim 4, characterized in that The method for deducing the functional relationship between the three motor angle chain coordinates and the platform feed amount includes: Assume that the coordinates of the X, Y1, and Y2 motor angle chains are X(x X ,y X ), The feed amounts of the X, Y1, and Y2 motors collected on the UVW platform are recorded as ΔX, ΔY1, and ΔY2, respectively. Since the horizontal distance between the Y1 motor angle chain and the Y2 motor angle chain is fixed and the length is L, the coordinates of the Y2 motor angle chain can be obtained as long as the coordinates of the Y1 motor angle chain are known. The method for calculating the feed amount given the angle chain coordinates and rotation radians is as follows: According to the rotational motion characteristics of UVW, the feed amounts of X, Y1, and Y2 positions required for the platform to rotate t radians around O' are X moving , Y 1moving , Y 2moving , then, we have: (12) and (13) are linearly related, so the following sections only use (11) and (12) to further formulate the equations; The motion sequence independence of the feed amount: On the UVW platform, P(x p ,y p ) moves to P'(x p' ,y p' ), there are two s x1 The feed amounts of the three motors required to achieve the movement in the two movement sequences, namely, rotation first, then translation and translation first, then rotation, are the same; For the case of rotation first and then translation, the feed amount X required to achieve the movement of the rotating part moving_1 , Y 1moving_1 The calculation is as follows: In this motion sequence, according to (7), the horizontal translation is s x1 and the vertical translation is s y1 ; Since the feed amounts ΔX and ΔY1 of the X and Y1 motors collected on the UVW platform may contain rotation and translation parts, we have: For the case of translation first and rotation later, according to (10), the horizontal translation amount is s x2 and the vertical translation is s y2 ; After translation, due to the feed amount to achieve translation, the positions of the X motor angle chain and the Y1 motor angle chain have changed, as follows: After the coordinate transformation of (15) and (16), the feed amount X required to realize the movement of the rotating part is moving_2 With Y 1moving_2 The calculation is as follows: According to the independence of the motion sequence of the feed amount, the feed amount required for translation first and then rotation is also ΔX, ΔY1, so: The expression of feed rate in two coordinate systems includes the following: Assume that under the action of ΔX, ΔY1 and ΔY2, the UVW platform only revolves around O'(x o' ,y o' ) rotated by t radians. Draw parallel lines through Y1 and Y2 and perpendicular lines through X, intersecting at O. The coordinate system XOY1 is called the actual coordinate system. With O' as the origin, make a virtual coordinate system X'O'Y1'. Project X, Y1, and Y2 into the virtual coordinate system X'O'Y1' to obtain three virtual points X', Y1', and Y2'. Since the coordinate of X is X(x X ,y X ), the coordinate of Y1 is The coordinates of O' are (x O' ,y O' ), so the coordinate of X' is (x O' ,y X ), Y1' is O is Take virtual points X', Y1', Y2' as the motor angle chain position, input feed amount ΔX', ΔY1' and ΔY2', and make the UVW platform move around O'(x o' ,y o' ) is rotated by t radians. According to the feed calculation in the orthogonal alignment method, ΔX', ΔY1' and ΔY2' are calculated as follows: Since [ΔX, ΔY1, ΔY2] and [ΔX', ΔY1', ΔY2'] can make the UVW platform only revolve around O'(x o' ,y o' ) is rotated by t radians, so: Ensure that ΔX, ΔX' are vectors with the positive direction pointing to the right horizontally, and ΔY1, ΔY2, ΔY1' and ΔY2' are vectors with the positive direction pointing downward vertically, so that the relationship (19) holds; ΔX, ΔY1 and ΔY2 include the feed amount of rotation and translation; for the case of rotation first and then translation, according to (7), it can be known that the horizontal translation amount is s x1 and vertical translation is s y1 , according to (18), (19), we have: For the other three motion sequences, they can also be modeled based on the coordinate system relationship.

6. The method according to claim 1, characterized in that The mathematical model solution method for a piece of sampling data is as follows: The following row vector is called a data sampled on the UVW platform, D i =[A i ,A' i ,C i ,C' i ,(ΔX) i ,(ΔY1) i ,(ΔY2) i ], where i is the sequence number of a UVW platform movement. In this movement, point A and point C move to A' and C' respectively. The three motor feeds required to achieve this movement are ΔX, ΔY1, and ΔY2 respectively. According to formula (6), two pairs of moving points are used to solve the rotation radian t. One pair of moving points or the midpoint of the two pairs of moving points is used to determine the horizontal translation s under the two movement sequences. x and the vertical translation s y About the rotation center x o' ,y o' Linear relationship; using D i and the determined linear relationship, combining equations (14), (17), and (20) to obtain a system of six linear equations, which can be expressed as: M(D i )S T =N(D i ), where M(D i ), N(D i ) are respectively using the sample data D i The coefficient matrix and right-hand side matrix of the constructed linear equations, S is an unknown quantity.

7. The method according to claim 6, characterized in that The mathematical model solution based on multiple sampling data is as follows: Select a sampling data set that is insensitive to errors and construct the following overdetermined equations: H(T)S T =W(T); Where T = [D1, D2, ..., D g ] is a set of g sample data, H(T)=[M1(D2); M2(D2); ...; M g (D g )] is the coefficient matrix of the overdetermined equations after substituting into T, W(T)=[N1(D2); N2(D2); ...; N g (D g )] is the right-hand matrix of the overdetermined system of equations after substituting into T; The least square method is used to solve the overdetermined equations and the true angular chain coordinates of the three motors are obtained.

8. A UVW platform motor angle chain coordinate correction device, characterized in that: include: Establish a unit for establishing a "rotation + translation" motion model based on moving point pairs, in which the rotation and translation motion of the UVW platform are modeled, the moving point pair information is substituted, the rotation radian t is solved, and the linear relationship between the translation amount and the rotation center under the four motion sequences is derived; A kinematic analysis unit is used to perform kinematic analysis on the UVW platform based on the established motion model, establish the motion model of the UVW platform, and derive the functional relationship between the coordinates of the three motor angular chains and the platform feed amount; A substitution unit is used to substitute a sampling data using the functional relationship derived in step S2 to establish a mathematical model that can solve the coordinates of the three motor angle chains; The correction unit is used to select multiple reasonable sampling data that are insensitive to errors, construct an overdetermined set of equations, and use the least squares method to solve the motor angle chain coordinates after correction.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

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