【摘要】 针对目前国内一些贴片式LED测试分选机运行时,由于分料装置运动到指定点后余振时间长和余振幅度大,使得分料装置达不到所要求的精度与速度。为了让一款新设计的分料装置达到所需的速度与精度,从该装置的运动路径优化着手抑制余振。首先对该装置的主要运动部件分料摆臂建立数学模型,为使数学模型更加精确,考虑由杆的大弯曲变形引起的纵向位移和非线性曲率,再通过拉格朗日方程和模态法建立摆臂的运动方程。最后,用粒子群优化算法进行轨迹优化以达到抑制余振的目的。更多还原

【Abstract】 At present,some domestic SMD-LED sorting machines have no enough accuracy and speed,since the time and amplitude of its residual vibration are long after its sorting device moved to the expected point. To make the newly designed sorting device achieve the required effectiveness,its residual vibration should be suppressed through optimizing its trajectory of motion.Firstly,a precise mathematical model of the sorting arm which is the main moving part of the machine is established.Through taking the nonlinear curvature and axial displacement caused by large bending deformation into account,the flexible link is modeled so as to obtain an accurate mathematical model. Next,the equations of motion of the sorting arm are derived through the Lagrange approach and the modes method. Finally,the particle swarm optimization algorithm is used to optimize the trajectory in order to suppress the residual vibration.更多还原