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With the development of 3C electronic products, dispensing technology faces challenges in precision and complexity. Traditional dispensing systems suffer from issues such as low accuracy and slow speed, necessitating improvements. This paper studies the design and control of a five-axis curved surface dispensing system, covering the following main points:
1. A precise five-axis dispensing system was developed, integrating motion control, vision, and dispensing control units, and its reliability was validated.
2. For kinematic modeling, error identification, and compensation, an error compensation strategy based on spiral theory was proposed.
3. The dispensing trajectory planning was optimized, using a 3-5-3 polynomial interpolation method to improve connectivity performance.
4. Experimental validation demonstrated the effectiveness of error calibration and trajectory planning, significantly enhancing spatial positioning accuracy.
Figure 1. CAFYXZ Five-Axis Dispensing Equipment
Figure 2. Experimental Measurement of Smartphone Camera Module Dispensing
Innovation Point 1
A unified kinematic model for a typical five-axis motion platform was established based on screw theory, along with a simple and effective method to address the issue of multiple solutions in inverse kinematics.
Innovation Point 2
A solution for rapid measurement, identification, and spatial error compensation of geometric errors in a precision five-axis motion platform was proposed based on monocular vision.
To address the issue of adhesive buildup caused by low speeds at the connection points of the dispensing mechanism's trajectory, a 3-5-3 piecewise polynomial interpolation method was proposed for trajectory planning in joint space.
paper link：https://link.cnki.net/doi/10.27661/d.cnki.gzhnu.2022.000670
