基于PMAC的混联贴片机器人控制特性研究

摘要

The control characteristics of a 4DOF mixed - connection mounter is studied in this paper. A control system based on PMAC is designed. Then the kinematic characteristics of this mounter have been analyzed, the trajectory was planned,its control flow was descriped,and finally it was verified by prototype. Actual results show that the development of a mixed - connection mounter can meet the needs of electronic packaging in the SMT.%以四自由度混联贴片机器人控制特性为研究对象,设计了一种基于多轴运动控制卡(PMAC)的运动控制系统,并对混联机器人进行了运动学分析和轨迹规划,描述了其控制流程,最后通过样机进行了验证.使用结果表明,所研制的混联贴片机器人能满足电子封装中的贴片需求.