Control System Design And Path Planning Of 4 DOF Fluid Dispensing Robot

Fluid dispensing machine is a typical four DOF robot. It is used in semiconductor packaging for chip fixing, integrated circuit component sealing, mechanical protection as well as mitigating material stress generated by temperature difference and so on. It uses high-pressure to squeeze certain amount of industrial colloid on to the substrate to fix the chip components. It is widely used because it is simple, widely adapted to the environment and easy to maintain.In this study a dispensing robot control system was designed after carrying out extensive researches on the products market and user needs. It simplified user operations by way of providing a simple and intuitive graphical user interface. Multiple projects can be stored at the same time for the user to choose for processing and an interface for projects creating and editing is also provided. System was also designed to support some conventional graphic file such as PLT, PCB and DXF files designed by CAD software. System will extract the parameters automatically and after some pre-processing the control information generated will be formatted in accordance with the agreement and finally sent to the actuator through RS232 serial port for further processing. A smart and portable hand-held process control device is also provided to store the processing data downloaded from the host computer. It's founded that reducing the glue gun move distance will greatly improve the efficiency, especially in batch processing cases. The commonly used X/Y-axis optimization is fast and simple but not efficient enough, especially when the holes are close to random distribution. Ant Colony Optimization (ACO) based algorithm was introduced here to optimize the dispensing route in offline mode, and the optimized process information was downloaded to the hand-held control device for batch processing.Extensive simulations showed that ACO based algorithm can greatly shorten the dispensing route, especially in batch processing cases, which improve the productivity greatly. The on-line testing showed that the system has automatic path planning, teaching and correcting capability and high-speed positioning, high positioning accuracy, high repeatability, batch processing and cross-platform features.