The Trajectory Planning Research Of Wire Bonding Based On PMAC

With the rapid development of industrial robot,automobile industry, mechanical arm and the increasing people’s requirement for accuracy and stability of them,the study of their trajectory become an important research topic.There are many different methods to study the trajectory planning.Some scholars propose the trajectory planning algorithm to plan path;Some apply control methods and algorithm which come from other field;Based on the continuity of the basic trajectory elements position,velocity and acceleration, some scholars according to the technological requirements of different trajectories to fitting;Some use different interpolation ways to fitting by means of segmentation and so on.This text based on Automatic flat LED ultrasonic gold wire ball bonding machine WB200,selected the cleaver of welding wire machine as research object and leaded bonding trajectory optimization for the goal.Using plan trajectory model of PMAC motion control system on experimental platform to plan path and further optimizing the path by PID control system.There are three perspectives of planning path which are mixed mode trajectory planning,the whole period of control parameters with mixed mode trajectory optimization and the segmented control parameters with mixed mode trajectory planning.The first step of mixed mode planning trajectory is divided it into segments,then planning trajectory with the optimization objection of following error and repetitive error based on the continuity of position,velocity and acceleration.During the process of planning,translated different control model into numerical value,established the mathematical model of different control mode and the test index with orthogonal experiment data,obtained the Pareto optimal solutions with multi-objective genetic algorithm.So as to get the optimal trajectory planning method, implement wire bonding trajectory planning.Experimental design and response surface model method are used to setting parameters optimization during the whole period of control parameters with mixed mode trajectory optimization.Applied the whole period of control parameters to design orthogonal experiment,and applied the Design-expert software and MATLAB software to analysis and calculate the test data to optimize the trajectory calculation.It’s easy to obtain the results and low demands on theory compared with intelligent method setting.The segmented control parameters with mixed mode trajectory planning is using piecewise control parameter to planning trajectory with mixed mode.Firstly,divided the entire period of motion to segmentation.For each motion segmentation experiment,applied different model and different control parameters built model, then analyzed the model to find the optimal control parameter set of each section, contrasted the optimal control parameters of each model of each section in the group to obtain the final optimal control model and control parameters combination in the section.By this way found the optimum assembly of every segmentation in order,then found out the whole motion optimum assembly step by step,of which the rear part optimum assembly of trajectory planning are based on the front movement.In the process of trajectory planning,we confirmed the result of the theory methods by the test platform,it turned out that the three methods of trajectory planning are correct and dependable.