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    MACRO-MICRO INTEGRATED COMPOUND PLATFORM WITH ADJUSTABLE DYNAMIC CHARACTERISTICS
    31.
    发明申请
    MACRO-MICRO INTEGRATED COMPOUND PLATFORM WITH ADJUSTABLE DYNAMIC CHARACTERISTICS 审中-公开

    公开(公告)号：US20170087677A1

    公开(公告)日：2017-03-30

    申请号：US15376658

    申请日：2016-12-13

    Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

    Inventor： Zhijun Yang ,  Youdun Bai ,  Xin Chen ,  Jian Gao ,  Xindu Chen ,  Yunbo He ,  Yun Chen ,  Ruiqi Li ,  Chaoran Chen

    IPC: B23Q1/25 ,  B25H1/02

    CPC classification number: B23Q1/25 ,  B23Q1/34 ,  B23Q11/0039 ,  B25H1/02

    Abstract: The present invention proposes a macro-micro integrated compound platform with adjustable dynamic characteristics. When a macro platform mover and a micro platform mover are driven at the same time, the whole large-scale high-speed motion can be realized; when a motion deviation occurs, a micro motion platform can be driven separately to realize the high-frequency motion deviation compensation, because the micro motion platform has small inertia and zero friction and achieves precision displacement output through elastic deformation. The macro-micro integrated compound platform can realize high-speed precision motion through compound motion control, is mounted and used in a manner consistent with the traditional platform, and is convenient to be popularized and applied; a stiffness and frequency adjustment mechanism and a variable damper are arranged, so that the micro motion platform can transfer the motion of a macro motion platform and isolate the vibration at any frequency, and realize high-precision displacement compensation; meanwhile, damping of the variable damper is matched with the stiffness and frequency parameters to ensure the high-precision displacement compensation at any frequency and increase the range of working frequency.

    MACRO-MICRO COMPOSITE GRATING RULER MEASURING SYSTEM BASED ON CONVERSION AND AMPLIFICATION IN VERTICAL AND HORIZONTAL DIRECTIONS
    32.
    发明申请
    MACRO-MICRO COMPOSITE GRATING RULER MEASURING SYSTEM BASED ON CONVERSION AND AMPLIFICATION IN VERTICAL AND HORIZONTAL DIRECTIONS 有权
    基于垂直和水平方向的转换和放大的宏微复合光栅测量系统

    公开(公告)号：US20170003147A1

    公开(公告)日：2017-01-05

    申请号：US15114087

    申请日：2014-09-24

    Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

    Inventor： Zhijun Yang ,  Youdun Bai ,  Xin Chen ,  Jian Gao ,  Haidong Yang ,  Meng Wang

    IPC: G01D5/347

    CPC classification number: G01D5/34707 ,  G01D5/34746

    Abstract: The present disclosure relates to a macro-micro composite grating ruler measuring system based on conversion and amplification in vertical and horizontal directions. The macro-micro composite grating ruler includes a grating ruler, a macro-micro reading system moving with respect to the grating ruler, and a counting and image processing module. The macro-micro reading system faces grating strip datum and is parallel to the grating ruler. The system further includes a measuring reference line. The measuring reference line obtained by the image sensor together with grating strips forms an image overlap in the counting and image processing module. The measuring reference line and the grating strip jointly include an angle θ. With the foregoing configuration, the present invention is compatible with the existing incremental grating rulers and absolute grating rulers, so is highly applicable.

    Abstract translation: 本公开涉及基于垂直和水平方向上的转换和放大的宏观微复合光栅尺测量系统。 宏观微复合光栅尺包括光栅尺，相对于光栅尺移动的宏观微读取系统，以及计数和图像处理模块。 宏观微观读取系统面对光栅条纹基准面并与光栅尺平行。 该系统还包括测量参考线。 由图像传感器与光栅条纹获得的测量参考线在计数和图像处理模块中形成图像重叠。 测量基准线和光栅条共同包括角度θ。 利用上述结构，本发明与现有的增量光栅尺和绝对光栅尺匹配，因此是非常适用的。

    Kinematics modeling method, apparatus and device for multi-degree-of-freedom mechanism and storage medium
    34.
    发明授权
    Kinematics modeling method, apparatus and device for multi-degree-of-freedom mechanism and storage medium 有权

    公开(公告)号：US12138802B1

    公开(公告)日：2024-11-12

    申请号：US18769309

    申请日：2024-07-10

    Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

    Inventor： Jian Gao ,  Disai Chen ,  Yuheng Luo ,  Lanyu Zhang ,  Zhuojun Zheng ,  Guoqing Wu ,  Xin Chen

    IPC: B25J9/16

    Abstract: The present application provides a kinematics modeling method, apparatus and device for a multi-degree-of-freedom mechanism and a storage medium. The method includes: constructing a point coordinate system, and constructing the transformation matrix; constructing transformation matrices of two rotating axes and the transformation matrix; constructing the forward kinematics model based on the transformation matrices of the point coordinate system, the two rotating axes and the workpiece coordinate system; solving the motor value of the rotating axis through the rotation matrix of the end-effector, using the translation matrix of the end-effector as a non-homogeneous linear equation set, solving the motor value of linear axis. Thus solving the technical problem in the prior arts that the redundant parameters are introduced as a cost to separate the linear axis and the rotating axis for step-by-step kinematics calibration, which affects the error calibration precision of the overall end-effector movement of the mechanism.

    Kinematics parameter calibration method and system of multi-axis motion platform
    35.
    发明授权
    Kinematics parameter calibration method and system of multi-axis motion platform 有权

    公开(公告)号：US12109714B1

    公开(公告)日：2024-10-08

    申请号：US18483499

    申请日：2023-10-09

    Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

    Inventor： Jian Gao ,  Guoqing Wu ,  Yuheng Luo ,  Lanyu Zhang ,  Zhuojun Zheng ,  Disai Chen ,  Xin Chen

    IPC: B25J9/16

    CPC classification number: B25J9/1692 ,  B25J9/1697

    Abstract: Disclosed are a kinematics parameter calibration method and system of a multi-axis motion platform. The method comprises the following steps of: collecting calibration board images in different spatial positions according to a position relation between the platform and a camera, recording a corresponding motor motion amount, solving a hand-eye pose relation matrix and a pose matrix of a calibration board coordinate system in a platform tail end coordinate system, further solving a coordinate measured value of an angular point on the calibration board in a platform base coordinate system and a coordinate theoretical value of a position matrix of the tail end of the motion platform, determining a residual error matrix according to the measured value and the theoretical value, and identifying an error parameter by the residual error matrix to complete kinematics parameter calibration of the platform.

    Three-dimensional measurement method and related apparatus
    38.
    发明授权
    Three-dimensional measurement method and related apparatus 有权

    公开(公告)号：US11823405B1

    公开(公告)日：2023-11-21

    申请号：US18154557

    申请日：2023-01-13

    Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

    Inventor： Zhuojun Zheng ,  Jian Gao ,  Lanyu Zhang ,  Haixiang Deng ,  Yun Chen ,  Xin Chen

    IPC: G06T7/521 ,  G01C3/02

    CPC classification number: G06T7/521 ,  G01C3/02 ,  G06T2207/10028

    Abstract: A three-dimensional measurement method comprises: converting a total number of levels of sawtooth fringes into a Gray code and acquiring a sawtooth slope coefficient; fusing the coefficient into a sawtooth fringe image to generate a target sawtooth fringe pattern; projecting each target sawtooth fringe pattern to a surface of a to-be-measured object through a projector, and collecting a deformed target sawtooth fringe pattern on the surface through a camera; solving a Gray code of each sawtooth fringe collection pattern at each pixel point according to a differential property of adjacent pixels in each sawtooth fringe collection pattern and solving a fringe level and a wrapped phase at each pixel point; calculating an absolute phase at each pixel point according to the fringe level and the wrapped phase at each pixel point, and reconstructing a three-dimensional point cloud through triangulation ranging to obtain a three-dimensional model of the to-be-measured object.

    Compliant mechanical system for mini/micro chip mass transfer and packaging
    39.
    发明授权
    Compliant mechanical system for mini/micro chip mass transfer and packaging 有权

    公开(公告)号：US11791178B1

    公开(公告)日：2023-10-17

    申请号：US18062026

    申请日：2022-12-06

    Applicant: GUANGDONG UNIVERSITY OF TECHNOLOGY

    Inventor： Hui Tang ,  Zhishen Liao ,  Xin Chen ,  Zhihang Lin ,  Jian Gao ,  Qiang Liu ,  Xun Chen

    IPC: H01L21/67

    CPC classification number: H01L21/67144 ,  H01L21/67259

    Abstract: A compliant mechanical system for Mini/Micro chip mass transfer and packaging comprises a flexure-based continuous ejector pin mechanism including a drive support plate, a mounting base, first thorn die attach drive devices, second thorn die attach drive devices, first flexible hinges, second flexible hinges, and a pricking pin. The first thorn die attach drive devices and the second thorn die attach drive devices are mounted on the drive support plate. A drive end of the first thorn die attach drive device horizontally passes rightward through the first flexible hinge at a corresponding position; a drive end of the second thorn die attach drive device horizontally passes leftward through the first flexible hinge at a corresponding position; and the mounting base is hinged to the drive ends of the two thorn die attach drive devices through the second flexible hinges.

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