Dynamic deformation calculation method for high-speed heavy-load robot

Abstract

The invention relates to a dynamic deformation calculation method for a high-speed heavy-load robot. The method comprises the following steps that according to design features of a robot body, a basecoordinate system is established at the position of a robot base, robot joint coordinate systems are established at joints of the robot, and D-H parameters at the joints are acquired; a kinematics equation of a tail end device is calculated, the tail end position and posture of the robot is acquired, recurrence on angular velocity and angular acceleration are sequentially conducted, recurrence onvelocity and acceleration are sequentially conducted, and the motion state of each connecting rod in the base coordinate system is calculated; and the inertia force and the inertia moment of each connecting rod are solved, a finite element model of the robot is established, and the total dynamic deformation, stress and strain of the robot are solved. According to the method, a kinetic model of therobot is applied to the finite element model, the deformation situation caused by dead weight, loads and all the inertia force and the inertia moments of the robot is analyzed, various influence factors of the deformation of a tail end point are researched, and a basis is provided for modeling design and parameter optimization of the robot.

Description

Technical field [0001] The invention relates to the field of high-speed heavy-duty robots, in particular to a dynamic deformation calculation method for high-speed heavy-duty robots. Background technique [0002] High-speed heavy-duty robots are defined as industrial robots with a terminal load of more than 100kg and a linear speed of more than 1m / s at the end. They are widely used in automobile spraying, welding, logistics handling, stacking and heavy manufacturing. Industries such as automated production. High-speed heavy-duty robots have the characteristics of high-speed heavy-duty, high rigidity, high stability, and large volume and weight due to the needs of the operating environment and tasks. In addition to the static deformation caused by the end load and the robot's own weight, the inertial force and moment of inertia during the operation of the robot will also cause the deformation of the robot, which will cause the end trajectory offset, robot vibration, damage to par...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a dynamic deformation calculation method of a high-speed heavy-duty robot, the purpose of which is to solve the problem that the dynamic deformation of the high-speed heavy-duty robot greatly exceeds the static deformation during the working process, which may easily cause excessive vibration amplitude and terminal trajectory Offset and other issues,

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