Dynamic Modeling And Motion Control System Design Of Swing Arm Of Die-bonder

LED crystallizing machine is one of the key equipments in the packaging process of LED production,which is developing towards high speed and high precision.With the accelerated production tempo of the crystallizer,the vibration problem at the end of the crystallizer swing arm has become more and more serious,which has a serious impact on the positioning accuracy at the end of the swing arm.Therefore,it is necessary to study the dynamics model of the swing arm and the performance of the drive system in order to further develop the optimal control algorithm for the swing arm to reduce or suppress the end vibration during the high speed motion of the swing arm.In this paper,the research on the end vibration of the swing arm of the solid crystallizer is carried out to model the swing arm dynamics,the joint electromechanical simulation of the swing arm system and the design of the swing arm motion control system,which has important application value.This paper mainly accomplishes the following works.(1)The dynamics model of the swing arm is established.According to the structure of the swing arm of the cementing machine,the dynamics of the swing arm is modeled by Newton Euler method,and the joint moment expression of the swing arm is solved with the help of Sym Pybotics toolkit,and the correctness of the obtained moment expression is verified by using matlab robotics toolbox.(2)The multi-rigid body model and rigid-flexible coupling model of the swing arm mechanical system are established.Firstly,according to the engineering drawing and assembly drawing of the swing arm of the solid crystal machine,the 3D model of the swing arm mechanism was established by using Solidworks 3D modeling software,and then the3 D model was imported into ADAMS,and after adding constraints according to the actual structure,the multi-rigid body dynamics model of the swing arm was obtained.In order to consider the flexibility of the swing arm,the ANSYS software is used to flex the swing arm,and then the original rigid swing arm is replaced by the three-point positioning method to obtain the rigid-flexible coupling dynamics model of the swing arm.(3)The joint electromechanical simulation of the swing arm motion control system was carried out.A mathematical model of the swing arm servo drive system was established and combined with the control block diagram of the swing arm derived from ADAMS in the simulink environment to form a multi rigid body and rigid-flexible coupling electromechanical joint simulation model;the input curves of the joint simulation model were designed and simulated by using the T-type and S-type velocity curves respectively,and the effects of these two input curves on the end vibration of the swing arm were compared;the joint moment of the swing arm The joint moment of the swing arm is used as the feed-forward input of the joint simulation platform and simulated to investigate the effect of the feed-forward moment on the end vibration of the swing arm.(4)The swing arm motion control system is designed.According to the performance index requirements of the swing arm motion control system,the control parameters obtained from the electromechanical joint simulation are used to design the swing arm motion control system from two aspects: key hardware selection and upper computer software design,and apply it to the engineering prototype.The kinematics and dynamics parameters of the swing arm system of the crystallizing machine are derived through modeling and simulation of the swing arm system,and the control algorithm of the swing arm motion control system based on torque feed-forward is given.The final output of the crystallizing machine exceeds 10,000 pieces per hour and the XY positioning accuracy reaches ±50?m.