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Working space solving method of flexible supporting industrial robot

A technology for industrial robots and workspaces, applied to instruments, manipulators, manufacturing tools, etc., can solve problems such as terminal accuracy deterioration, system vibration, and large terminal workspaces, and achieve the effect of suppressing disturbances

Active Publication Date: 2018-09-11
TSINGHUA UNIV +1
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  • Application Information

AI Technical Summary

Problems solved by technology

The introduction of flexible support realizes the organic combination of large working space of the terminal, low power consumption and low cost of the system, but at the same time brings the risk of system vibration and deterioration of terminal accuracy

Method used

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  • Working space solving method of flexible supporting industrial robot
  • Working space solving method of flexible supporting industrial robot
  • Working space solving method of flexible supporting industrial robot

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Embodiment Construction

[0031] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] Introduction to basic principles

[0033] (1) Instructions for solving kinematic position Jacobian matrix and position Hessian matrix

[0034] Using the D-H homogeneous coordinate change rule to obtain the mutual mapping matrix between the end coordinates and the base coordinates of industrial robots The position Jacobian matrix can be expressed as:

[0035]

[0036] The Hessian matrix H is to use the Jacobian matrix to re-align [θ 1 ,θ 2 ,θ 3 ] Derivation:

[0037]

[0038] (2) The local condition number (abbreviation: KCI) solution method of the industrial robot kinematics index position Jacobian matrix

[0039] Index range 1≤KCImin Indicates the minimum singular value of the position Jacobian matrix, σ max Indicates the largest singular value of the positional Jacobian matrix. The KCI index is usually aimed ...

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Abstract

The invention discloses a working space solving method of a flexible supporting industrial robot. The working space solving method comprises the steps that a reachable working space is subjected to primary refining at first by utilizing industrial robot kinematics Jacobi local condition number indexes proposed based on a fixing substrate, so that a flexible working space is obtained, that is, theindustrial robot can be away from singularities in the working space when working in the working space, and accordingly kinematics precision is ensured; then, force system (force and moment) ellipsoidindexes are proposed for the flexible supporting industrial robot so that the flexible working space of the industrial robot can be further refined, and the flexible working space is named as a combined vibration suppression working space; and when the industrial robot works in the working space, a counterforce system borne by a flexible supporting platform from the industrial robot can be effectively controlled, so that the terminal precision of the industrial robot is not damaged and is the same with the kinematics terminal precision of a fixing substrate industrial robot.

Description

technical field [0001] The invention relates to the technical field of trajectory planning of a flexible support series industrial robot system, in particular to a method for solving a working space of a flexible support industrial robot. Background of the invention [0002] With the advent of large mining dump trucks, large servo presses, and large aircrafts, industrial robots have become more and more widely used in high-end manufacturing. For the manufacture of such equipment, due to its large size and the limited working space of traditional fixed-base industrial robots, its application range is greatly limited. In order to meet the above requirements, the concept of flexible support industrial robot came into being. A typical structure of a flexible support industrial robot is to install the industrial robot on a light-weight flexible motion platform (usually a cable drive mechanism) with a large working space. The biggest difference between flexible support machine i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06F17/50
CPCB25J9/1605B25J9/1607G06F30/20
Inventor 邵珠峰陈炼王立平杜丽邓豪张兆坤葛姝翌李伟涛
Owner TSINGHUA UNIV
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