Research On Kinematic Trajectory Optimization Of Swing Arm Of Chip Sorter Based On Linear Motor

With the continuous expansion of chip application scope,the classification and sorting of chips have become a crucial part of the manufacturing process,imposing higher standards on the sorting efficiency and accuracy of chip sorting equipment.The swing arm,as a key component of the chip sorting machine,directly affects its working efficiency.In order to improve the efficiency and stability of the swing arm motion control,this thesis takes the swing arm as the research object,the smooth transition algorithm,acceleration and deceleration control algorithm,velocity forward planning and trajectory tracking of swing arm are studied.The main contents and results are as follows:(1)The research status of trajectory planning,velocity forward-looking and trajectory tracking algorithm at home and abroad were introduced,and the existing problems were analyzed,and the research contents and methods of this thesis were clarified.According to the working requirements of the swing arm,a linear motor with suitable performance was selected.Several common trajectory smoothing transition methods were introduced and their advantages and disadvantages were analyzed.For the arc transition model,the optimal connection speed between continuous trajectories was obtained by analyzing factors such as segment length,trajectory error,feed speed,and acceleration.(2)Aiming at the requirements of high speed,high precision and high positioning precision for the swing arm motion control of chip sorting equipment,a new flexible acceleration and deceleration control algorithm with high performance was constructed based on polynomials,its reliability was verified by Lyapunov stability theorem Based on the new flexible acceleration and deceleration algorithm,the speed forward planning of swing arm was carried out,and the efficiency and rationality of the speed lookahead interpolation were verified through simulation tests.(3)The integral model predictive controller was established to track the trajectory of the swing arm.The model of the swing arm was simplified and the predictive model was established.The traditional model predictive control problem was transformed into a quadratic programming problem by designing the objective function and adding constraints,and the integral action was added to the traditional model predictive control,an integral model predictive trajectory tracking controller was established,and the validity of the controller was verified through simulation tests.(4)Acceleration and deceleration control algorithm,velocity forward interpolation algorithm,transition mode of turning point and trajectory tracking were carried out based on HIWIN motion platform,the forward-looking interpolation algorithm based on the new flexible acceleration and deceleration control improves the efficiency by 38.64% compared with the traditional interpolation algorithm,and the interpolation efficiency using the arc curve transition improves by 1.62% compared with the direct transition,compared with the traditional model predictive control,the integral model predictive control algorithm can track the target trajectory accurately in a shorter time,and can quickly restore the stable state when the external disturbance.The above analysis and research show that the reasonable movement control of the swing arm can not only ensure the swing arm running smoothly,but also can effectively improve the efficiency of chip sorting,it provides a new direction for the study of the trajectory optimization of swing arm.