自动引线系统中旋转偏心检测与补偿方法  

Detection and Compensation for Rotational Eccentricity in Automatic Wire-traction System

作　　者：王跃宗[1] 曲道多 王盛逸 WANG Yuezong;QU Daoduo;WANG Shengyi(College of Mechanical and Energy Engineering,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学机械与能源工程学院,北京100124

出　　处：《北京工业大学学报》2025年第1期1-12,共12页Journal of Beijing University of Technology

基　　金：国家自然科学基金资助项目(51975009)。

摘　　要：在空心杯转子线圈的自动引线微操作系统中,线圈的几何中心很难与旋转台的回转中心重合,因此在旋转过程中产生偏心现象,进而导致线圈引线失败。为此,提出了一种检测和补偿线圈偏差的方法。从分析线圈偏心源出发,建立偏心数学模型,设计了一种偏心模型与图像特征提取算法结合的偏差测量方法,并提出基于自动控制与补偿模型的校正方法。通过实验验证了模型的精确性以及偏心补偿的有效性,基于均方根误差的评价,模型对于偏差预测以及特征提取算法均具有较高的精度,补偿后的最大残余误差小于4μm,平均补偿幅度约为98.6%,引线实验展示了所提方法的优良性能。提出的偏心检测补偿方法具有精度高、复杂度低、效率高、实时性,以及嵌入式等优点,且在微操作以及微装配领域具有更合适、更广泛的应用。In the automatic wire-traction micromanipulation system for the hollow cup coil,it is difficult for the coil's geometric center to coincide with the rotation center of the rotary stage,thus,the eccentricity occurs during the rotation,which leads to a failure of the wire-traction.Therefore,a method to detect and compensate the coil's eccentricity is proposed in this paper.Based on the analysis of the eccentricity sources,the eccentricity mathematical models were established,a bias measurement method combining the eccentricity models with the image feature extraction algorithm was designed,and a correction method based on control and compensation models was proposed.The accuracy of the models and the effectiveness of eccentricity compensation were verified by experiments.Relying on the evaluation of root mean square error(RMSE),the prediction for eccentricity based on models and the feature extraction algorithm both had a high accuracy.The maximum residual error after compensation was less than 4μm and the average compensation amplitude was about 98.6%,and the wire-traction experiment showed the excellent performance of the proposed method.The detection and compensation method for eccentricity proposed in this paper has the advantages of high accuracy,low complexity,high efficiency,real-time and embedded,and is more suitable for a wider range of application in the field of micromanipulation and micro-assembly.

关 键 词：空心杯转子线圈 旋转偏心 模型 特征提取 微操作 微装配 

分 类 号：U461[机械工程—车辆工程] TP308[交通运输工程—载运工具运用工程]