Motion Planning And Control System For 3C Flexible Accessories Placement

Accessories placement is an important part of 3C product manufacturing.In the traditional manufacturing enterprises,it needs numbers of workers,which has become a pressing problem restricting the development of enterprises.With the rapid increase in labor costs and labor shortages,3C industry companies gradually utilize automation equipment to produce 3C products.Accessories have irregular shapes with slim form and require high speed during the process of both placement and product line replacement.However,traditional industrial robots cannot meet the manufacturing characteristics of the 3C industry.Lightweight robots are expensive and inefficient whenutilized in accessories placement,making it completely unable to satisfy the requirements of 3C production-manufacturing,thus it has important practical significance to study special equipments adapting to the 3C accessories placement.This dissertation analyzes the common used accessories at this stage in the 3C industry,in the aspects of material,size and other characteristics of the accessories.Moreover,the position along with the placement requirements on the 3C products is studied.We analyze current technological process of accessories placement and then determine the technical requirements.The basic flow of the system and the framework of the hardware system are designed.Based on the windows platform,this dissertation develops a control system.The system operation scheme is designed to rule the equipment to run automatically,achieving stripping and placement of accessories.The design of the system debugging program is convenient for staff to do device debugging,new product introduction and product line replacement.Design data processing system to conduct real-time detection about system operation data to facilitate the import and export of system data and the establishment of accessories placement model.This dissertation analyzes the excision principle of accessories and designs the stripping process of accessories.Based on this,we develop a prototype to implement exfoliation of the auxiliary materials by employing the XY platform to drive the terminal executor cooperate with the stripping machine.A 9 accessories stripping scheme is proposed according to the layout of accessories and the modular design of the terminal executor to improve the excision efficiency.A device can replace four to eight stations,and 16 accessories' placement at most can be completed in one circle,which achieves the maximum efficiency of equipment use.For the XY motion platform,we implement speed planning to reduce equipment vibration.The trajectory of the placement motion is planned.We contrast different path optimization methods and analyze the movement distance and time under different paths.We combine speed planning with ant colony algorithm,and the movement path is optimized by using the improved ant colony algorithm to improve the mounting efficiency of the auxiliary materials.