Optics and Precision Engineering, Volume. 31, Issue 2, 214(2023)
Automatic calibration and error compensation for micro magnetic parts assembly equipment
Figures & Tables(17)
Table 1. Calibration parameters of equipment
View tableView in ArticleTable 1. Calibration parameters of equipment
标定参数名称 标号 1 图像坐标系U，V两个方向的像素值 Px，Py 2 图像坐标系U轴与世界坐标系Xw轴夹角 αU_Xw 3 装配作业坐标系Xa轴与世界坐标系Xw轴夹角 αXa_Xw 4 装配作业模块Ya导轨与对应Ya轴夹角 βYa0_Ya 5 装配作业模块Za导轨与视觉模块Zv0导轨夹角 γZa0_Zv0 6 Z导轨同时运动引起的误差方向与Xa轴夹角 γZ0_Xa 7 组装工作台坐标系Xt轴与世界坐标系Xw轴夹角 αXt_Xw 8 组装工作台模块Yt0导轨与对应Yt轴夹角 βYt0_Yt
Table 2. Calibration plate test result
View tableView in ArticleTable 2. Calibration plate test result
项目 线缝精度 设计值 测量值 偏差 ① 500.00 499.84 -0.16 ② 500.00 499.68 -0.32 ③ 500.00 499.45 -0.55 ④ 500.00 499.78 -0.22 ⑤ 500.00 499.67 -0.33 ⑥ 500.00 499.76 -0.24 ⑦ 500.00 499.58 -0.42 ⑧ 500.00 499.62 -0.38 ⑨ 500.00 499.75 -0.25 ⑩ 500.00 499.74 -0.26
Table 3. Calibration results
View tableView in ArticleTable 3. Calibration results
参数 数据 Px 2.415 3 μm/pixel Py 2.413 4 μm/pixel αU_Xw 0.153° αXt_Xw -0.038° βYt0_Yt 0.025° αXa_Xw -0.080° βYa0_Ya -0.342° γZa0_Zv0 0.273° γZ0_Xa 10.131°
Table 4. Population comparison experiment of PSO
View tableView in ArticleTable 4. Population comparison experiment of PSO
种群数量 时间/ms 平均误差/μm 200 61 956.614 5.078 55 400 120 781.589 5.061 25 600 181 130.363 5.073 12 800 239 724.636 5.084 72 1 000 299 451.150 5.041 21
Table 5. Learning factor comparison experiment of PSO
View tableView in ArticleTable 5. Learning factor comparison experiment of PSO
学习因子 达到判定条件时的迭代次数 时间/ms 平均误差/μm c1=2，c2=0 27 319 569.610 5.069 55 c1=0，c2=2 20 300 263.458 5.084 90 c1=1.5，c2=1.5 23 304 224.667 5.137 03 c1=2，c2=2 18 299 451.150 5.041 21
Table 6. Calibration results after PSO
View tableView in ArticleTable 6. Calibration results after PSO
参数 数据 Px 2.415 3 μm/pixel Py 2.413 4 μm/pixel αU_Xw 0.151° αXa_Xw -0.067° βYa0_Ya -0.345° γZa0_Zv0 0.306° γZ0_Xa 10.132°
Table 7. Comparison of errors before and after PSO
View tableView in ArticleTable 7. Comparison of errors before and after PSO
路径 未优化/μm 优化后/μm 10 000，2 000，0 均值 4.46 4.95 极值 5.58 6.00 10 000，0，8 000 均值 7.77 3.24 极值 9.36 4.87 0，2 000，8 000 均值 2.84 2.30 极值 3.26 2.63 10 000，2 000，8 000 均值 6.08 2.95 极值 8.89 4.36
Table 8. Assembly experiment
View tableView in ArticleTable 8. Assembly experiment
次数 1 2 3 4 装配精度/μm 6.296 2.666 12.443 5.491 次数 5 6 7 8 装配精度/μm 4.817 11.206 8.028 3.158
Tools
Get Citation
Copy Citation Text
Tongqun REN, Haichuan JIANG, Jiankun ZHANG, Mengjie GUO, Xiaodong WANG. Automatic calibration and error compensation for micro magnetic parts assembly equipment[J]. Optics and Precision Engineering, 2023, 31(2): 214
Paper Information
Category: Micro/Nano Technology and Fine Mechanics
Received: Apr. 27, 2022
Accepted: --
Published Online: Feb. 9, 2023
The Author Email: WANG Xiaodong (xdwang@dlut.edu.cn)
© Copyright 2018-2021 | Chinese Laser Press.
All Rights Reserved 沪ICP备15018463号-20