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This article describes a mechanism which allows robots with relatively crude accuracy and repeatability to do fine positioning in placing surface-mounted components.
English (United States)
This text was extracted from a PDF file.
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This is the abbreviated version, containing approximately
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ROBOTIC X, Y AND r MICROSTEPPING END-OF-ARM TOOL FOR PLACING
This article describes a mechanism which allows robots with relatively crude
accuracy and repeatability to do fine positioning in placing surface-mounted
Referring to the drawings, Fig. 1 is a front view, partly in section, of the
mechanism. Fig. 2 is a top view in the direction of line A-A in Fig. 1. The robotic
X, Y and r microstepping end-of-arm tool attaches to the "Z" axis of a robot. The
X, Y and r movement of the robot performs the rough coordinate adjustments for
The tool moves to a crude X, Y and r position upon command from the robot
controller. The fine position error is measured by an optical or other device (not
shown). Then in order to achieve the X, Y fine positions, X and Y microsteppers
(stepping motors under microstep control) are used to drive the ball lead screws
which in term drive the X and Y microstages.
The X and Y microsteppers are controlled in a pseudo-closed loop mode by a
low-power laser diode and a photo-detector. A laser beam from the laser diode
shines on the target surface of the microstage. A scattered light is reflected onto
the photo-detector. Consequently, the home position of the microstage can be
calibrated very accurately based on the position of the scattered light on the
photo-detector, as shown in Fig. 2.
The surface-mounted component then is rotated into a corrected orientation
via the r microste...