Research On Control System Of Bench Top Dispensing Robot Based On CAD/CAM

Dispensing technology as one of most significant process in Advanced Integrated Circuit Encapsulation (AICE) has become an important technique problem. It is wildly used to squeeze the adhesive fluid in a syringe onto boards or substrates with the pressurized air for wafer or substrate bonding.A survey of the current fluid dispensing technology is given at first, including its history, present situation and development trend. Then the paper introduces the Robots which are used in the dispensing process, with their characteristics and working situation. The control system scheme for the bench top robot which is selected as the dispensing motion platform is discussed and the final integrated control scheme is adopted which consists of off-line programming system based on CAD/CAM and motion controller based on DSP.In the detail design period, the paper firstly analyses the process of dispensing points and lines. On the basis of analysis above, put forward the dispensing control methods in the respect of motion process. And the robot run time and axis velocity profile in dispensing is planned.The off-line program system based on CAD/CAM for dispensing robot is designed on the computer. In the module of trajectory planning, preliminary discussion is done about the shortest loop path and an algorithm of solving this problem is provided; In the module of back procedure, DDA(Digital Differential Analyzer) is adopted in line, circle and ellipse interpolation. At last the protocol transferring program data to robot from off-line system is analyzed.The controller of the dispensing robot is designed based on the TI company digital signal processor. The functions of the controller are described in detail and the process of designing schematic, PCB, and software is specific introduced.After finishing the control system, experiments are carried out to verify the functions including dispensing points, lines and loop path planning result.