RFID标签封装设备的桁架轨迹规划

摘要

针对RFID标签封装设备贴装模块的技术要求,分析了工艺过程,研究了桁架高速高精度的运动轨迹规划与设计方法.提出了一种轨迹切换的方法,将桁架的运动归结为短行程和长行程两种点点定位过程,根据行程的不同建立了不同的系统模型,依此选取不同的运动轨迹曲线.最后进行了实验验证,结果表明在保证较小的残余振动与较小的跟随误差的前提下,优化了运动时间,提高了设备效率.%According to the technical requirements of the pick-and-place module, the core part of the RFID tag packaging equipment, some research has been made on the high-speed high-precision gantry trajectory planning.A trajectory switch method is proposed in this paper, attributing the gantry movement to the short distance and the long distance point-to-point position, then choosing different trajectory curves according to different distances.Finally, experiments are performed on the gantry XY platform to test this method.The result shows that the movement time is decreased and the equipment efficiency is improved , with slight residual vibration and small following errors.